A radar-based automatic loading system for bulk materials in ports

Abstract

The present invention relates to the technical field of port shipping, and specifically discloses a radar-based automatic loading system for bulk materials in ports, including a loading channel, a hopper installed on the loading channel, a laser radar installed at the bottom of the loading channel, and the laser radar is connected to the industrial computer automation control software of the control station through the switch information. The control station includes a vehicle arrival trigger module, a vehicle stationary / moving judgment module, a vehicle body three-dimensional size calculation module, a falling material detection module, and a vehicle moving prompt module. The present invention effectively improves the loading speed, has high work efficiency, effectively reduces manpower, improves safety, and has strong overall flexibility and high accuracy.

Description

Technical Field

[0001] The invention relates to the technical field of port shipping, and in particular to a radar-based automatic loading system for bulk materials in a port. Background Art

[0002] At present, the more advanced intelligent loading systems of bulk cargo terminals generally use belt scales or floor scales to weigh bulk materials during the unloading process, and manually operate the unloading. Bulk cargo terminals with small loading and unloading volumes still use the traditional loading process of "mobile hopper + manual + mobile vehicle". During the operation, the loading volume is observed by human eyes, the material port of the hopper is opened / closed manually, and the unloading and loading are carried out through the switch device.

[0003] There are problems of high labor costs. A large number of operators are needed at the operation site, including material unloaders, on-site environmental protection dust suppression workers, etc.; there is also a problem of harsh environment. Workers stand for a long time and the labor intensity is high, which is easy to cause occupational diseases and affect the physical and mental health of workers. There are also problems such as uneven loading material piles, material spillage and leakage caused by manual loading. The operation process depends entirely on the personal loading experience of the on-site unloader, and quantitative judgment cannot be made. In addition, the existing loading efficiency is too low. "Overloading" requires unloading excess materials, which increases the cost of return; "underloading" requires returning to the loading point for replenishment. Multiple loading and unloading affects loading efficiency, and the degree of automation on site is low. When multiple silos or hoppers are unloading, workers can only load "one-to-one" and cannot achieve "one-to-many" loading, which seriously affects the loading and unloading efficiency of the port.

[0004] Therefore, in order to solve such problems, we proposed a radar-based automatic loading system for bulk materials in ports. Summary of the invention

[0005] The purpose of the present invention is to solve the shortcomings of the prior art and to propose a radar-based automatic loading system for bulk materials in ports.

[0006] In order to achieve the above object, the present invention adopts the following technical solutions:

[0007] A radar-based automatic loading system for bulk materials in a port, comprising a loading channel 1, a hopper 2 is installed on the loading channel 1, a laser radar 4 is installed at the bottom of the loading channel 1, and the laser radar 4 is connected to the industrial computer automation control software of the control station through switch information;

[0008] The control station includes a vehicle arrival trigger module, a vehicle stationary / moving judgment module, a vehicle body three-dimensional size calculation module, a falling material detection module and a vehicle moving prompt module;

[0009] The vehicle arrival trigger module is used to determine whether the vehicle enters the trigger area;

[0010] A vehicle stationary / moving judgment module is used to judge whether the vehicle is stationary;

[0011] The vehicle body three-dimensional size calculation module is used to determine the length, width and height of the vehicle compartment;

[0012] A material drop detection module is used to determine the loading status of the vehicle compartment;

[0013] The vehicle moving prompt module is used to prompt the driver of the vehicle according to the instructions.

[0014] Preferably, the vehicle arrival trigger module obtains a trigger area point cloud by performing a single-line point cloud scan based on the laser radar 4. The laser radar 4 sends the data of the trigger area point cloud to the industrial computer automation control software in real time through the switch, determines the trigger area, and monitors in real time whether the vehicle enters the trigger area through the industrial computer control software. When the front tailgate of the vehicle enters the trigger area, a vehicle stop command is sent. The judgment principle is to put the received trigger area point cloud data into set A and set B. Set A contains the single-line point cloud of the area below the discharge port of hopper 2 and the single-line point cloud of the trigger position, and set B only contains the single-line point cloud below the discharge port of hopper 2. The data of set A and set B are respectively projected in the direction of vehicle travel and the projected single-line point clouds are downsampled. When the number of projected single-line point clouds after the two sets of data are downsampled is greater than a certain value, it is judged that the vehicle enters the trigger area.

[0015] Preferably, the vehicle stationary / moving judgment module is used to calculate the average position of two adjacent groups of trigger area point clouds scanned by the laser radar 4. The average position is the average value of the three-dimensional coordinates of all points in the trigger area point cloud. If the average position deviation is less than the set value, the vehicle is judged to be stationary. If the average position deviation exceeds the set value, the vehicle is judged to be in a moving state. When the vehicle is judged to be stationary and the vehicle is in a trigger position, a rotation scanning instruction is sent to the laser radar 4. The laser radar 4 can perform a three-dimensional scan of the vehicle to obtain a three-dimensional point cloud, and send the three-dimensional point cloud data to the industrial computer automation control software. The laser radar 4 continuously obtains the loading height data of the bulk material data points in the cross-section of the vehicle compartment, and avoids the dropping area of ​​the hopper 2 discharge port to avoid splashing and affecting the measurement of the loading height data.

[0016] Preferably, the vehicle body three-dimensional size calculation module clusters the three-dimensional point cloud to obtain multiple clusters, and finds the cluster with the largest number of three-dimensional point clouds, which is the empty compartment point cloud. In the compartment cluster, outliers are removed and the highest point is found, which is the compartment height point cloud. The highest point is used as the projection point to perform planar projection processing on the compartment point cloud. The length and width of this projection are the length and width of the empty compartment, and the centerline point cloud of the compartment is found. According to the position of the centerline point cloud of the compartment, it is judged whether the vehicle deviates from the material port range. If it exceeds the position of the centerline point cloud of the compartment, it is judged that the vehicle deviates and the vehicle is allowed to leave. If it does not deviate from the material port range, the industrial computer automation control software calculates the laser irradiation angle of the lidar 4 and issues an angle adjustment instruction.

[0017] Preferably, the falling material detection module extracts the single-line point cloud scanned by the laser radar 4 according to the size of the discharge port of the hopper 2, and the height average of the single-line point cloud is the material level height data of the carriage. The material level setting value detected by the laser radar 4 is compared with the material level height data of the carriage. If the material level setting value does not reach the set height, a stop and load instruction is issued. If the material level setting value reaches the set height, a vehicle forward instruction is issued. When the vehicle reaches the tail and is full, a vehicle departure instruction is issued, and the laser radar 4 rotates to the initial angle;

[0018] The vehicle moving prompt module includes a PLC, a prompt horn, and an LED prompt screen 6 that are connected to the control station through switch information. The PLC includes a PLC controller. The PLC controller can control the traffic light 5. According to the instruction, the PLC controller can control the switch loading of the discharge port of the hopper 2, and control the prompt horn and the LED prompt screen 6 and the traffic light 5 through the instruction to display the prompt information. The prompt information can be used to prompt the driver to control the vehicle to stop, move forward, and leave.

[0019] Preferably, the industrial computer automation control software receives the data scanned by the laser radar 4, and determines the rectangular coordinate data of the scanned point cloud according to the conversion relationship between polar coordinates and rectangular coordinates, extracts the length, width and height data of the car body and the distance of the vehicle center line from the material port, obtains the loading height of each data point, and calculates the average height information of the transverse surface of the car body loading, and finally obtains the three-dimensional size data of the vehicle.

[0020] Preferably, the industrial computer automation control software gives information on whether the vehicle deviates from its position or continues to load and the loading amount, as well as information on the material height monitoring angle of the laser radar 4, based on the valve opening size and position information of the hopper 2 discharge port, combined with the three-dimensional size data of the vehicle, the relative position of the hopper 2 discharge port and the loading amount parameter data.

[0021] Preferably, the laser radar 4 rotates to a corresponding angle according to the instructions of the industrial computer automation control software to continuously monitor the distribution of bulk materials. The industrial computer automation control software sends action instructions for adjusting the laser radar 4 in real time to ensure that the laser radar 4 monitors the uniform distribution of bulk materials and does not exceed the boundary of the carriage. The PLC controller controls the opening of the discharge port of the hopper 2 and loads the bulk materials at a predetermined height according to the loading instructions provided by the industrial computer automation control software, and gives forward, stop and leave signals through the prompt horn, LED prompt screen 6 and traffic light 5.

[0022] Preferably, the specific process of data downsampling is as follows:

[0023] Step 1: Define a 3D grid that covers the entire spatial range of the point cloud.

[0024] Step 2: Calculate the position of the center point of each grid cell of the three-dimensional grid;

[0025] Step 3: For the center point of each grid cell, find the point in the original point cloud closest to the center point and use it as the sampling point;

[0026] Step 4: Combine all selected sampling points into a single-line point cloud.

[0027] Preferably, the following modes are also included: a. manual mode, b. automatic mode;

[0028] a. Manual mode: The operator manually switches to manual mode and operates the control handle to manually load bulk materials according to the on-site conditions;

[0029] b. Automatic mode: The operator manually switches to automatic mode, and the laser radar 4 rotates to the initial monitoring angle.

[0030] Compared with the prior art, the present invention has the following beneficial effects:

[0031] The present invention can realize continuous operation, effectively improve the loading speed, shorten the residence time of goods in the port, have high work efficiency, and effectively save manpower, reduce dependence on manual operation, reduce labor costs, and at the same time reduce the work of personnel in high-risk environments, reduce the probability of work-related accidents, and effectively improve safety. The system can be adjusted according to different cargo types and carriage sizes, has strong adaptability and overall flexibility. At the same time, the high-precision measurement data provided by the lidar ensures the accuracy and uniformity of loading with high precision. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0033] Figure 1 It is the principle diagram of the present invention;

[0034] Figure 2 is a side view of the present invention;

[0035] Figure 3 It is a front view of the present invention;

[0036] Figure 4 It is an axonometric drawing of the present invention.

[0037] In the picture: 1. Loading channel; 2. Hopper; 3. Position meter radar; 4. LiDAR; 5. Traffic light; 6. LED prompt screen. DETAILED DESCRIPTION

[0038] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0039] Reference Figure 1-4 , a radar-based automatic loading system for bulk materials in a port, including a loading channel 1, the main body of the loading channel 1 is a support frame, and the bottom is used for vehicles to pass through and load materials, that is, the loading channel 1 is provided with a loading station. A hopper 2 is installed on the loading channel 1, a laser radar 4 is installed at the bottom of the loading channel 1, and a position meter radar 3 is also installed on the loading channel 1. The position meter radar 3 is correspondingly arranged on the hopper 2 and is used to measure the residual material data inside the hopper 2. The laser radar 4 is connected to the industrial computer automation control software of the control station through the switch information;

[0040] The control station includes a vehicle arrival trigger module, a vehicle stationary / moving judgment module, a vehicle body three-dimensional size calculation module, a falling material detection module and a vehicle moving prompt module;

[0041] The vehicle arrival trigger module is used to determine whether the vehicle enters the trigger area;

[0042] A vehicle stationary / moving judgment module is used to judge whether the vehicle is stationary;

[0043] The vehicle body three-dimensional size calculation module is used to determine the length, width and height of the vehicle compartment;

[0044] A material drop detection module is used to determine the loading status of the vehicle compartment;

[0045] The vehicle moving prompt module is used to prompt the driver of the vehicle according to the instructions.

[0046] The vehicle arrival trigger module obtains the trigger area point cloud by performing a single-line point cloud scan based on the laser radar 4. The laser radar 4 sends the data of the trigger area point cloud to the industrial computer automation control software in real time through the switch to determine the trigger area. The industrial computer control software monitors in real time whether the vehicle enters the trigger area. When the front tailgate of the vehicle enters the trigger area, a vehicle stop command is sent. The judgment principle is to put the received trigger area point cloud data into set A and set B. Set A contains the single-line point cloud of the area below the discharge port of hopper 2 and the single-line point cloud of the trigger position. Set B only contains the single-line point cloud below the discharge port of hopper 2. The data of set A and set B are projected in the direction of vehicle travel respectively and the projected single-line point cloud is downsampled. When the number of projected single-line point clouds after the two sets of data are downsampled is greater than a certain value, it is judged that the vehicle enters the trigger area.

[0047] The vehicle stationary / moving judgment module is used to calculate the average position of the two adjacent groups of trigger area point clouds scanned by the laser radar 4. The average position is the average value of the three-dimensional coordinates of all points in the trigger area point cloud. If the average position deviation is less than the set value, the vehicle is judged to be stationary. If the average position deviation exceeds the set value, the vehicle is judged to be in a moving state. When the vehicle is judged to be stationary and the vehicle is in a trigger position, a rotation scanning instruction is sent to the laser radar 4. The laser radar 4 can perform a three-dimensional scan of the vehicle to obtain a three-dimensional point cloud, and send the three-dimensional point cloud data to the industrial computer automation control software. The laser radar 4 continuously obtains the loading height data of the bulk material data points in the cross-section of the vehicle compartment, and avoids the drop area of ​​the hopper 2 discharge port to avoid splashing and affecting the measurement of the loading height data.

[0048] The above-mentioned setting value is the position data value of the bottom of the loading channel 1 obtained through many practices, and is used to judge whether the vehicle is stationary or moving.

[0049] The vehicle body three-dimensional size calculation module clusters the three-dimensional point cloud to obtain multiple clusters, and finds the cluster with the largest number of three-dimensional point clouds, which is the point cloud of the empty carriage. In the carriage cluster, outliers are removed and the highest point is found. This highest point is the height point cloud of the carriage. The highest point is used as the projection point to perform planar projection processing on the carriage point cloud. The length and width of this projection are the length and width of the empty carriage and the centerline point cloud of the carriage is found. According to the position of the centerline point cloud of the carriage, it is judged whether the vehicle deviates from the material opening range. If it exceeds the position of the centerline point cloud of the carriage, it is judged that the vehicle deviates and the vehicle is allowed to leave. If it does not deviate from the material opening range, the industrial computer automation control software calculates the laser irradiation angle of the laser radar 4 and issues an angle adjustment instruction.

[0050] The material drop detection module extracts the single-line point cloud scanned by the laser radar 4 according to the size of the discharge port of the hopper 2. The height average of the single-line point cloud is the material level height data of the carriage. The material level setting value detected by the laser radar 4 is compared with the material level height data of the carriage. If the material level setting value does not reach the set height, a stop and load instruction is issued. If the material level setting value reaches the set height, a vehicle forward instruction is issued. When the vehicle reaches the tail and is full, a vehicle departure instruction is issued, and the laser radar 4 rotates to the initial angle;

[0051] The vehicle moving prompt module includes a PLC, a prompt horn, and an LED prompt screen 6 connected to the control station through the switch information. The PLC includes a PLC controller, which can control the traffic light 5. According to the instruction, the PLC controller can control the switch loading of the discharge port of the hopper 2, and control the prompt horn and the LED prompt screen 6 and the traffic light 5 through the instruction to display the prompt information. The prompt information can be used to prompt the driver to control the vehicle to stop, move forward, and leave. The prompt information includes text information, light information, and sound information.

[0052] The industrial computer automation control software receives the data scanned by the laser radar 4, and determines the rectangular coordinate data of the scanned point cloud according to the conversion relationship between polar coordinates and rectangular coordinates, extracts the length, width and height data of the carriage and the distance of the vehicle centerline from the material port, obtains the loading height of each data point, and calculates the average height information of the transverse surface of the carriage loading, and finally obtains the three-dimensional size data of the vehicle.

[0053] The industrial computer automation control software gives information on whether the vehicle deviates from its position or continues to load and the loading amount, as well as the material height monitoring angle information of the laser radar 4, based on the valve opening size and position information of the hopper 2 discharge port, combined with the vehicle's three-dimensional size data, the relative position of the hopper 2 discharge port and the loading parameter data.

[0054] The laser radar 4 rotates to the corresponding angle according to the instructions of the industrial computer automation control software to continuously monitor the distribution of bulk materials. The industrial computer automation control software sends real-time action instructions to adjust the laser radar 4 to ensure that the laser radar 4 monitors the bulk materials evenly distributed and does not exceed the boundary of the carriage. The PLC controller controls the opening of the discharge port of the hopper 2 and loads the bulk materials at a predetermined height according to the loading instructions provided by the industrial computer automation control software, and gives forward, stop and leave signals through the prompt horn, LED prompt screen 6 and traffic light 5.

[0055] The specific process of data downsampling is as follows:

[0056] Step 1: Define a 3D grid that covers the entire spatial range of the point cloud.

[0057] Step 2: Calculate the position of the center point of each grid cell of the three-dimensional grid;

[0058] Step 3: For the center point of each grid cell, find the point in the original point cloud closest to the center point and use it as the sampling point;

[0059] Step 4: Combine all selected sampling points into a single-line point cloud.

[0060] It also includes the following modes: a. manual mode, b. automatic mode;

[0061] a. Manual mode: The operator manually switches to manual mode and operates the control handle to manually load bulk materials according to the on-site conditions;

[0062] b. Automatic mode: The operator manually switches to automatic mode, and the laser radar 4 rotates to the initial monitoring angle.

[0063] When the present invention is in use, when the vehicle enters the loading station at the bottom of the loading channel 1, the laser radar 4 starts to scan the carriage to obtain the three-dimensional contour information inside the carriage. The industrial computer automation control software of the control station calculates the optimal loading height based on this information. Subsequently, the industrial computer automation control software controls the display device, that is, controls the LED prompt screen 6, issues an action instruction to prompt the driver to move forward, and then controls the gate opening and closing of the hopper 2 discharge port to load bulk materials according to the driver's action. During the whole process, the laser radar 4 continuously monitors the distribution of bulk materials, adjusts the action of the conveying device in real time, and ensures that the bulk materials are evenly distributed and do not exceed the boundary of the carriage. The accuracy and uniformity of loading are effectively guaranteed, with high precision, while reducing the dependence on manual operation, reducing labor costs, and reducing the work of personnel in high-risk environments, reducing the probability of work-related accidents, and effectively improving safety.

[0064] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A radar-based automatic loading system for bulk materials in a port, comprising a loading channel (1), characterized in that: A hopper (2) is installed on the loading channel (1), a laser radar (4) is installed at the bottom of the loading channel (1), and the laser radar (4) is connected to the industrial computer automation control software of the control station through the switch information; The control station includes a vehicle arrival trigger module, a vehicle stationary / moving judgment module, a vehicle body three-dimensional size calculation module, a falling material detection module and a vehicle moving prompt module; The vehicle arrival trigger module is used to determine whether the vehicle enters the trigger area; A vehicle stationary / moving judgment module is used to judge whether the vehicle is stationary; The vehicle body three-dimensional size calculation module is used to determine the length, width and height of the vehicle compartment; A material drop detection module is used to determine the loading status of the vehicle compartment; The vehicle moving prompt module is used to prompt the driver of the vehicle according to the instructions.

2. The radar-based automatic loading system for bulk materials at ports according to claim 1 is characterized in that: The vehicle arrival trigger module performs a single-line point cloud scan based on the laser radar (4) to obtain a trigger area point cloud. The laser radar (4) sends the data of the trigger area point cloud to the industrial computer automation control software in real time through the switch to determine the trigger area. The industrial computer control software monitors in real time whether the vehicle enters the trigger area. When the front tailgate of the vehicle enters the trigger area, a vehicle stop command is sent. The judgment principle is to put the received trigger area point cloud data into a set A and a set B. The set A contains the single-line point cloud of the area below the discharge port of the hopper (2) and the single-line point cloud of the trigger position, and the set B only contains the single-line point cloud below the discharge port of the hopper (2). The data of the sets A and B are projected in the direction of vehicle travel respectively and the projected single-line point clouds are downsampled. When the number of projected single-line point clouds after the two sets of data are downsampled is greater than a certain value, it is determined that the vehicle has entered the trigger area.

3. The radar-based automatic loading system for bulk materials at a port according to claim 1, characterized in that: The vehicle stationary / moving judgment module is used to calculate the average position of two adjacent groups of trigger area point clouds scanned by the laser radar (4), the average position is the average value of the three-dimensional coordinates of all points in the trigger area point cloud, and if the average position deviation is less than a set value, the vehicle is judged to be stationary, and if the average position deviation exceeds the set value, the vehicle is judged to be in a moving state. When the vehicle is judged to be stationary and the vehicle is in a trigger position, a rotation scanning instruction is sent to the laser radar (4), and the laser radar (4) can perform a three-dimensional scan on the vehicle to obtain a three-dimensional point cloud, and send the data of the three-dimensional point cloud to the industrial computer automation control software, and the laser radar (4) continuously obtains the loading height data of the bulk material data points in the cross section of the vehicle compartment, and avoids the material drop area of ​​the hopper (2) discharge port to avoid splashing and affecting the measurement of the loading height data.

4. The radar-based automatic loading system for bulk materials at a port according to claim 3 is characterized in that: The vehicle body three-dimensional size calculation module clusters the three-dimensional point cloud to obtain multiple clusters, and finds the cluster with the largest number of three-dimensional point clouds, which is the empty carriage point cloud. In the carriage cluster, outliers are removed and the highest point is found. The highest point is the carriage height point cloud. The highest point is used as a projection point to perform plane projection processing on the carriage point cloud. The length and width of the projection are the length and width of the empty carriage and the carriage centerline point cloud is found. According to the position of the carriage centerline point cloud, it is judged whether the vehicle deviates from the material opening range. If it exceeds the position of the carriage centerline point cloud, it is judged that the vehicle deviates and the vehicle is allowed to leave. If it does not deviate from the material opening range, the industrial computer automation control software calculates the laser irradiation angle of the laser radar (4) and issues an angle adjustment instruction.

5. The radar-based automatic loading system for bulk materials in ports according to claim 1 is characterized in that: The material drop detection module extracts the single-line point cloud scanned by the laser radar (4) according to the size of the material outlet of the hopper (2), and the height average of the single-line point cloud is the material level height data of the carriage. The material level setting value detected by the laser radar (4) is compared with the material level height data of the carriage. If the material level setting value does not reach the setting height, a stop and load instruction is issued. If the material level setting value reaches the setting height, a vehicle forward instruction is issued. When the vehicle reaches the rear and is full, a vehicle departure instruction is issued, and the laser radar (4) rotates to the initial angle. The vehicle moving prompt module comprises a PLC, a prompt horn, and an LED prompt screen (6) which are connected to a control station through switch information. The PLC comprises a PLC controller. The PLC controller can control a traffic light (5). According to an instruction, the PLC controller can control the switch loading of a discharge port of a hopper (2). The prompt horn, the LED prompt screen (6), and the traffic light (5) are controlled by instructions to display prompt information. The prompt information can be used to prompt a driver to control the vehicle to stop, move forward, or drive away.

6. The radar-based automatic loading system for bulk materials at a port according to claim 1, characterized in that: The industrial computer automation control software receives the data scanned by the laser radar (4), determines the rectangular coordinate data of the scanned point cloud according to the conversion relationship between polar coordinates and rectangular coordinates, extracts the length, width and height data of the carriage and the distance of the center line of the vehicle from the material port, obtains the loading height of each data point, and calculates the average height information of the transverse surface of the carriage loading, and finally obtains the three-dimensional size data of the vehicle.

7. The radar-based automatic loading system for bulk materials at a port according to claim 6, characterized in that: The industrial computer automation control software provides information on whether the vehicle deviates from the position or continues to load and the loading amount, as well as information on the material height monitoring angle of the laser radar (4), based on the valve opening size and position information of the hopper (2) discharge port, combined with the vehicle's three-dimensional size data, the relative position of the hopper (2) discharge port and the loading amount parameter data.

8. The radar-based automatic loading system for bulk materials at a port according to claim 1, characterized in that: The laser radar (4) rotates to a corresponding angle according to the instructions of the industrial computer automation control software to continuously monitor the distribution of bulk materials. The industrial computer automation control software sends real-time action instructions to adjust the laser radar (4) to ensure that the laser radar (4) monitors the bulk materials to be evenly distributed and does not exceed the boundary of the carriage. The PLC controller controls the opening of the discharge port of the hopper (2) and loads the bulk materials at a predetermined height according to the loading instructions provided by the industrial computer automation control software, and gives forward, stop, and leave signals through the prompt horn and LED prompt screen (6) and the traffic light (5).

9. The radar-based automatic bulk material loading system for ports according to claim 2, characterized in that: The specific process of data downsampling is as follows: Step 1: Define a 3D grid that covers the entire spatial range of the point cloud. Step 2: Calculate the position of the center point of each grid cell of the three-dimensional grid; Step 3: For the center point of each grid cell, find the point in the original point cloud closest to the center point and use it as the sampling point; Step 4: Combine all selected sampling points into a single-line point cloud.

10. The radar-based automatic bulk material loading system for ports according to claim 1, characterized in that: It also includes the following modes: a. manual mode, b. automatic mode; a. Manual mode: The operator manually switches to manual mode and operates the control handle to manually load bulk materials according to the on-site conditions; b. Automatic mode: The operator manually switches to automatic mode, and the laser radar (4) rotates to the initial monitoring angle.

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