Automatic control system of spiral material leveling machine based on 3D laser scanning technology

Abstract

The invention discloses an automatic control system of a spiral material leveling machine based on a 3D laser scanning technology, and relates to the technical field of automatic control, before operation and in the operation process, data are collected through a laser scanning system to construct a three-dimensional model of an operation object material pile, and the three-dimensional model is updated in real time; according to the dispatching instruction and in combination with the height distribution condition, scanned by a scanner, of the surface of the materials loaded in the compartment, an appropriate material leveling process is formulated; meanwhile, according to the running speed of the train and the real-time change condition of the surface height of the materials in the compartment, the spiral pushing device of the material leveling machine is automatically controlled to walk back and forth, lift the depth of the materials cut into the device, rotate speed and turn of the spiral and the like, and material leveling efficiency and material leveling quality are improved. According to the invention, an operator only needs to be responsible for operation process plan information input, automatic operation process start-stop control and manual intervention of key nodes, so that remote centralized monitoring and local unattended operation are realized; and finally, efficient and safe full-automatic unmanned operation of the material leveling equipment of the loading line is achieved.

Description

Technical Field

[0001] The present invention relates to the field of automatic control technology, and in particular to an automatic control system of a spiral flat feeder based on 3D laser scanning technology. Background Art

[0002] The spiral leveler is a professional machine used for leveling the piles in freight open wagons. It uses the principle of spiral conveying and semi-conveying pipe scraping of two sets of semi-conveying pipe spiral leveling devices that can work separately or jointly to achieve the function of quickly leveling the top of any pile of bulk materials in the train compartment. At present, the two spiral levelers used by Caofeidian Industrial Port Co., Ltd. are running stably. Compared with the traditional leveling method, it better solves the industry problems such as difficulty in leveling materials on trains, high cost, unstable quality, and dangerous operations.

[0003] However, there are still some problems in the actual application of the existing flat feeder under manual operation mode. First, the operating environment of the spiral flat feeder is harsh and the operation process is complicated. Operators need to undergo professional training and accumulate rich operating experience before they can start work. At the same time, due to the limitation of the blind spot of the operation vision, there are certain hidden dangers in the operation safety of manual operation in bad weather; second, during the manual operation of the flat feeder, the loading system and the railway traction system are running at the same time, and it is impossible to have real-time and effective information exchange with the loading system, resulting in unstable production efficiency. In this context, it is very necessary to design and study the automation transformation of the flat feeder control system. Summary of the invention

[0004] In order to solve the above problems, the purpose of the present invention is to provide a spiral flat feeder automatic control system based on 3D laser scanning technology, aiming to realize the automated transformation of the spiral flat feeder.

[0005] In order to achieve the above technical objectives, the present application provides an automatic control system for a spiral flat feeder based on 3D laser scanning technology, comprising:

[0006] The detection and scanning system is used to collect data through laser scanning before and during the operation to build a three-dimensional model of the material pile of the operation object and update it in real time;

[0007] Motion control system, used to control the forward and backward movement, lifting and lowering cutting depth of the spiral pusher of the flat feeder, and the speed and steering of the spiral;

[0008] The safety management system is used to protect the collision safety of the flat feeder during automatic operation through soft limit protection, secondary deceleration protection and tertiary mechanical limit protection, and to provide safety protection for the flat feeder and personnel;

[0009] The intelligent dispatching coordination system is used to obtain the train's running speed and carriage position based on the data collected by the detection scanning system, and obtain the

[0010] The surface shape of the material is reconstructed in three dimensions. At the same time, according to the running speed of the train, the position of the carriages and the three-dimensional reconstructed surface shape of the material, the operation and safety control of the spiral pusher of the flat feeder are carried out through the motion control system and the safety management system.

[0011] Preferably, the detection and scanning system consists of three sets of 2D laser scanners, two sets of 2D laser scanners arranged orthogonally and scanning vertically downward are installed above the fixed gantry at the front of the flattener, and one set of 2D laser scanners arranged orthogonally and scanning vertically downward is installed at the rear end. The material to be processed is located by three-dimensional scanning, and the flattener is controlled to automatically position itself. Based on laser scanning technology, the flattener is positioned above the material to be processed, and the material surface is scanned to obtain the optimal lower roller position; the 3D scanners on both sides of the flattener scan the material information in the car in real time to obtain the material surface condition after each flattening operation; after the flattening is completed, the effect scanning and modeling are performed, and after modeling, it is automatically identified whether there is any irregularity in the material distribution inside the car.

[0012] Preferably, the motion control system is used to achieve walking positioning and lifting positioning, wherein:

[0013] Walking positioning, using laser rangefinder and absolute encoder redundancy to perform positioning measurement, installing encoder walking wheels on the walking platform, and installing limit switches at fixed points to calibrate encoder positioning;

[0014] The lifting and positioning adopts the vertical rack movement mode. An absolute encoder is installed on one side of the gear as the lifting mechanism positioning device, and the limit switch performs fixed-point calibration on the encoder.

[0015] Preferably, the safety management system uses a safety strategy in which the soft limit set according to the encoder positioning data is the first-level protection, the laser anti-collision protection limit is the second-level protection, and the mechanical limit is the third-level protection; through a relay connected in series with the emergency stop button on the traction system, when an emergency occurs or the flat material spiral roller fails below the height of the car body, the tractor will automatically stop and an audible and visual alarm will be issued on the vehicle.

[0016] Preferably, the safety management system is used to achieve unmanned safety management through safety doors, prohibit personnel from illegally entering the unmanned operation area, and set door limits at the entrance of the corresponding flat material machine working area.

[0017] Preferably, the safety management system is also used to monitor the situation of the carriage entering the entrance of the flat material machine, the situation of the carriage leaving the operating range of the flat material machine, and the maintenance walkway.

[0018] Preferably, the spiral flattening machine automatic control system is also used to automatically control the lifting height, left and right walking flattening, spiral direction and frequency of the flattening machine, and moving to a safe position according to the travel speed of the train and the height distribution of the material surface inside the carriage, so as to improve the flattening efficiency and quality. When the flattening operation is not completed when the train carriage leaves the operating area, the system prompts an alarm and displays which carriage has not completed the flattening.

[0019] Preferably, the automatic control system of the spiral flattening machine first identifies the carriage skin, processes each carriage to remove the skin part; secondly, calculates the target height, combines the calculated and processed carriage model volume, combines the material density, loading weight data and the theoretical value of the carriage volume, and divides it by the bottom area to obtain the final suitable material height after flattening, and then takes the highest point corresponding to each X coordinate, processes the model into a plane diagram, and finally uses the target height line to cut the pile diagram, and divides the wave peaks above the target line downward into grades with the maximum flattening trolley thrust, wherein the lowest grade is the target height, and the gear position is at least two; selects the entry point to connect the grades into a flattening operation trajectory.

[0020] Preferably, the process of selecting the flat material starting point of the spiral flat material machine automatic control system is as follows:

[0021] 1) Divide the carriage into multiple areas in the direction of travel;

[0022] 2) Select the area with the most gears to start leveling;

[0023] 3) Select the leftmost point of the highest wave peak in each gear as the starting point for flattening.

[0024] Preferably, the automatic control system of the spiral flattening machine is also used to dynamically update the model using the on-board scanner and fine-tune the flattening route; and to judge the flattening effect based on the height difference △h between the highest point and the lowest point of the material in the carriage; at the same time, the running time is estimated according to the trajectory planning, and a time limit is set. If the limit is exceeded, it is prompted that the automatic flattening cannot be completed and the manual intervention process is entered.

[0025] The present invention discloses the following technical effects:

[0026] The present invention integrates transportation resources, reduces manual processing, realizes unmanned or remote operation of the loading line, reduces the risk of potential safety hazards in the loading line, and comprehensively improves operating efficiency. At the same time, the present invention makes full use of existing information resources to provide technical support for promoting the construction of the port terminal railway bulk cargo intelligent operation system project. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] 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 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.

[0028] Figure 1 is a system structure diagram of the present invention;

[0029] Figure 2 It is the system network topology diagram of the present invention;

[0030] Figure 3 It is a schematic diagram of the installation of the laser scanner for the flat material machine of the present invention;

[0031] Figure 4 It is a schematic diagram of laser scanning modeling of the flat material machine described in the present invention;

[0032] Figure 5 is a schematic diagram of the installation position of the equipment described in the present invention;

[0033] Figure 6 It is a schematic diagram of the grading of the material strategy calculation module described in the present invention. DETAILED DESCRIPTION

[0034] To make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all of the embodiments. The components of the embodiments of the present application generally described and shown in the drawings here can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the application claimed for protection, but merely represents the selected embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without making creative work belong to the scope of protection of the present application.

[0035] In view of the problems of high labor intensity and low flattening efficiency in the manual operation mode of the spiral flattening machine, the present invention provides an automatic control system for the spiral flattening machine based on 3D laser scanning technology, which specifically includes the following designs:

[0036] 1. Overall design:

[0037] 1.1. Brief description of automatic control scheme of flat feeder

[0038] This system adds scanning equipment and control systems, and transforms the original flat material machine control system. On the basis of manual operation, it realizes remote operation and automatic operation of the flat material process. At the same time, safety protection functions are considered to achieve manual intervention in emergency situations to ensure the safe, efficient and stable operation of the flat material machine. After the completion of the automation system transformation, the flat material machine operation mode is changed from the original pure manual operation mode to the following 3 operation modes:

[0039] (1) Remote and fully automatic: The flattening machine automatically completes the flattening work in the carriage according to the dispatching instructions and the surface height distribution of the materials inside the carriage scanned by the scanner. The laser scanning system automatically controls the rapid lifting and height, left and right flattening, spiral direction and frequency, and resting position of the flattening machine according to the train speed and the surface height distribution of the materials inside the carriage, thereby improving the flattening efficiency and quality. The operator in the central control room is responsible for the input of operation process plan information, automatic operation process start and stop control, and manual intervention at key nodes, realizing remote centralized monitoring and unmanned on-site operation.

[0040] (2) Remote manual: This mode is mainly used when remote monitoring finds that some sensors fail or malfunction; remote manual has higher priority than the operation in the driver's cab. The loading building is equipped with a remote operating console, which is appropriately simplified by retaining the main functions of the local operating console. A remote operating console is added to the loading building and a PLC remote station is configured to achieve data interaction with the local PLC of the flat feeder through the field bus. In addition, a complete video acquisition system is configured to display the on-site flat feed situation in real time in the central control room, so that the operator can remotely operate the flat feeder. The remote operation process in the central control room is consistent with the local operation process in the driver's cab of the flat feeder.

[0041] (3) Local operation: This mode is mainly used in emergency situations and can only be used when the communication between the central control room and the driver's room is interrupted or when there is a failure in the central control room. Local operation is performed in the driver's room. At this time, the material level status of the train car is manually observed, and each operating mechanism has a protection device.

[0042] 1.2. The composition of the automatic control system of the flat material machine:

[0043] The specific implementation plan of the flat material machine automatic control system is as follows:

[0044] (1) Two sets of 2D laser scanners are installed above the fixed gantry at the front of the flat material machine, which are arranged orthogonally and scan vertically downward. One set of 2D laser scanners are installed at the rear end. When the carriage enters the flat car position, the carriage (including length, width and height) and the surface of the material in the carriage are laser scanned. The background software calculates the train's running speed, carriage position and three-dimensional reconstruction of the material surface shape at a speed of seconds.

[0045] (2) Four sets of 8-line laser radars are respectively configured at the front, rear and edge positions of the flat material moving carriage, which can quickly scan and model the surface conditions of the materials in the compartment after flattening, and also have the function of detecting the front and rear edge positions of the compartment.

[0046] (3) Calculation of flat material control strategy: Quickly (in seconds) calculate the flat material strategy (including initial flat material position, flat material direction, flat material height, flat material frequency, etc.). If the laser detection after flat material does not meet the technical requirements, continue to control the flat material action until the flat material effect meets the requirements.

[0047] (4) After the software scans and models the materials inside the carriage, it can automatically identify whether it is a faulty carriage (such as an empty carriage) or whether the materials inside the carriage are irregularly distributed (not meeting the automatic leveling standard).

[0048] The structure diagram of the automatic control system of the flat material machine is as follows: Figure 1 shown.

[0049] 2. System function design:

[0050] The automatic control system of the flat material machine can intelligently manage the entire flat material machine operation area and tasks, make independent decisions, automatically perform daily operations and successfully complete the flat material task. To achieve the above functions, the system design includes a detection and scanning system, a motion control system, a safety management system and an intelligent scheduling and coordination system. The network topology of the flat material machine automatic control system is as follows: Figure 2 shown.

[0051] 2.1. Detection and scanning system:

[0052] Two sets of 2D laser scanners are installed above the fixed gantry at the front of the flat material machine, which are arranged orthogonally and scan vertically downward. One set of 2D laser scanners is installed at the rear end, which are arranged orthogonally and scan vertically downward. When the carriage enters the flat car position, the carriage (including the length, width and height of the carriage) and the surface of the material inside the carriage are laser scanned. The background software calculates the train's travel speed, carriage position and three-dimensionally reconstructed material surface shape in seconds. Four sets of 8-line laser radars are configured in the front, rear and edge positions of the flat material trolley, which can quickly scan and model the surface of the material in the carriage after flattening, and also have the function of detecting the front and rear edge positions of the carriage. Laser scanning installation diagram and related functions are as follows: Figure 3 shown.

[0053] The installed intelligent 3D scanning system can detect the materials to be processed in the carriage. The system locates the materials to be processed through three-dimensional scanning, controls the automatic positioning of the flattening machine, and positions the flattening machine above the materials to be processed based on laser scanning technology. This function is combined with automatic positioning to scan the material surface and obtain the optimal lower roller position. The 3D scanners on both sides of the flattening machine scan the material information in the carriage in real time to obtain the material surface condition after each flattening operation. After the flattening is completed, the effect scanning and modeling are carried out. After modeling, it automatically identifies whether there are irregularities in the material distribution inside the carriage. The interior conditions of the carriage modeled by laser scanning are as follows: Figure 4 shown.

[0054] 2.2. Flat feeder motion control system:

[0055] The AB company's PLC is used as an auxiliary controller, which communicates with the original PLC control system through DP communication, and each mechanism adopts variable frequency drive speed regulation. The system integrates the electrical control, positioning, equipment status and other signals of the flat feeder itself, and has overcurrent, short circuit, overload and pressure loss protection functions. The controller communicates with the original flat feeder PLC through the DP bus to realize the intelligent motion control of the flat feeder and the accurate positioning of the walking and lifting mechanisms.

[0056] (1) Travel positioning: Use a laser rangefinder and an absolute encoder in a redundant manner for positioning measurement. Install the encoder travel wheel on the travel platform, and install a limit switch at a fixed point to calibrate the encoder positioning.

[0057] (2) Lifting and positioning: The lifting mechanism is positioned by vertical rack motion. An absolute encoder is installed on one side of the gear as the lifting mechanism positioning device, and the limit switch performs fixed-point calibration on the encoder.

[0058] The schematic diagram of the equipment installation location is shown in Figure 5.

[0059] 2.3 Safety Management System:

[0060] During the unmanned and intelligent operation of the flat material machine, multiple safety interlock protection measures are set up according to the requirements of safe production to ensure the safe operation of the equipment.

[0061] (1) Collision safety protection

[0062] In view of the possible collision safety issues during the automatic operation of the flat feeder, the system adopts multi-level safety protection. Each mechanism is set with soft limit protection, secondary deceleration protection and tertiary mechanical limit protection; the soft limit set according to the encoder positioning data is the first-level protection, the laser anti-collision protection limit is the second-level protection, and the mechanical limit is the third-level protection safety strategy. Through the relay connected in series with the emergency stop button on the traction system, when an emergency occurs or the flat feed spiral roller fails below the height of the carriage, the tractor will automatically stop and send out an audible and visual alarm on the vehicle.

[0063] (2) Safety protection of flat material machine and personnel

[0064] The flat feeder operation platform is closed and equipped with a safety door. Unmanned safety management is implemented. Personnel are prohibited from illegally entering the unmanned operation area. Door limits are set at the entrance of the corresponding flat feeder operation area. Equipment and personnel are divided into areas and interlocked for protection. A gun-type camera is installed on the fixed gantry side at the front of the flat feeder to monitor the situation of the carriage entering the flat feeder entrance. A gun-type camera is installed on the fixed gantry side at the rear of the flat feeder to monitor the situation of the carriage leaving the flat feeder operation range. Gun-type cameras are installed at the front and rear ends of the flat feeder track platform to monitor the maintenance platform.

[0065] In addition to the safety protection function, the flat material machine management system also has a black box function, which analyzes and archives all system operation instructions, and realizes real-time status monitoring and scheduling optimization functions. The host computer system is the interactive interface of the entire control system, including fault information, mechanism location, material location, and realizes the interaction of control commands. The main functions of the host computer system are shown in Table 1:

[0066] Table 1

[0067]

[0068]

[0069]

[0070]

[0071] 2.4、 Intelligent dispatching and collaborative management system for loading system:

[0072] In order to realize the intelligent dispatching and collaborative management of the entire loading system and ensure the safety of the interaction area between the flat feeder and other equipment during the operation, the control system needs to communicate with other related equipment on the loading line, namely the feeding tractor, the loading and loading building, and the central control room of the port area. An optoelectronic switch is installed in the transfer box on the flat feeder, which is connected to the electrical room of the flat feeder by using multi-core trailing optical fiber to ensure data stability. The optoelectronic switch in the electrical room is then connected to the central control core switch through multi-core optical fiber to realize data interaction with various devices.

[0073] The central control room (or loading building) of the port area is equipped with a central control console and a server cabinet. The central control console includes a central control PLC, a report printer, an industrial computer and a display, and the server cabinet includes a server, a core switch, a UPS power supply, and a video surveillance recorder. The main functions of the dispatch optimization system are shown in Table 2:

[0074] Table 2

[0075]

[0076]

[0077]

[0078]

[0079]

[0080] 2.5. Automatic control algorithm of flat feeder:

[0081] The core of the automatic control algorithm of the flattening machine is to automatically control the lifting height, left and right walking flattening, spiral direction and frequency, and safe position of the flattening machine according to the speed of the train and the surface height distribution of the materials inside the carriage, so as to improve the efficiency and quality of flattening. If the laser scanner detection after flattening does not meet the technical requirements, the flattening action control will continue. If the flattening operation is not completed when the train carriage leaves the operation area, the system will prompt an alarm and display which carriage has not completed the flattening.

[0082] The automatic control algorithm of the flattening machine includes a scanning modeling calculation module before flattening, a flattening strategy calculation module and a dynamic verification calculation module after flattening.

[0083] (1) Pre-scanning modeling and calculation module for flat materials: A laser rangefinder is used to perform data modeling at the entrance of the train. One scanner measures the speed longitudinally, and one scanner pushes the cross section horizontally according to the speed. The onboard scanner then updates the model based on the current position scan, and finally generates a moving train and material operation model.

[0084] (2) Material leveling strategy calculation module: First, identify the carriage and the skin (if there is a clear height difference between the material and the skin, identify it according to the height; if the material may be higher than the carriage, identify it according to the skin characteristics), and process each carriage to remove the skin part. Secondly, calculate the target height. The volume of the carriage model after calculation and processing is combined with the material density, loading weight data and the theoretical value of the carriage volume, and divided by the bottom area to obtain the final appropriate material height after leveling. Then take the highest point corresponding to each X coordinate and process the model into a plane diagram. Finally, use the target height line to cut the pile diagram, and divide the wave peaks above the target line downward into grades with the maximum material leveling trolley thrust, where the lowest grade is the target height, and there are at least two gears. Select the entry point to connect the grades into the material leveling operation trajectory, such as Figure 6 shown.

[0085] The process of selecting the starting point for leveling is as follows: 1) divide the carriage into multiple areas in the direction of travel; 2) select the area with the most gears to start leveling; 3) select the leftmost cut-in of the highest peak of each gear as the starting point for leveling.

[0086] (3) Dynamic verification calculation module after leveling: Use the on-board scanner to dynamically update the model and fine-tune the leveling route. And judge the leveling effect based on the height difference △h between the highest and lowest points of the material in the carriage. △h is considered level within a certain range. At the same time, the running time is estimated according to the trajectory planning, and the time limit is set. If the limit is exceeded, it will be prompted that the automatic leveling cannot be completed and the manual intervention process will be entered. The fully automatic control algorithm flow of the leveling machine is shown in Table 3:

[0087] Table 3

[0088]

[0089]

[0090]

[0091]

[0092]

[0093]

[0094]

[0095]

[0096]

[0097] The system mentioned in the present invention collects data through a laser scanning system before and during the operation to construct a three-dimensional model of the material pile of the operation object and updates it in real time. The leveling machine formulates a suitable leveling process according to the dispatching instructions and the surface height distribution of the materials loaded in the carriage scanned by the scanner. The central control system automatically controls the forward and backward movement, lifting and lowering cutting depth of the spiral pusher of the leveling machine, the speed and steering of the spiral according to the real-time changes in the speed of the train and the surface height of the materials inside the carriage, so as to improve the efficiency and quality of leveling. The operators in the central control room are only responsible for the input of operation process plan information, automatic operation process start and stop control and manual intervention of key nodes, so as to realize remote centralized monitoring and on-site unmanned operation. Finally, efficient and safe fully automatic unmanned operation of the loading line leveling equipment is realized.

[0098] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0099] In the description of the present invention, it should be understood that 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 technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0100] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. An automatic control system for a spiral flat feeder based on 3D laser scanning technology, characterized in that: include: The detection and scanning system is used to collect data through laser scanning before and during the operation to build a three-dimensional model of the material pile of the operation object and update it in real time; Motion control system, used to control the forward and backward movement, lifting and lowering cutting depth of the spiral pusher of the flat feeder, and the speed and steering of the spiral; The safety management system is used to protect the collision safety of the flat feeder during automatic operation through soft limit protection, secondary deceleration protection and tertiary mechanical limit protection, and to provide safety protection for the flat feeder and personnel; The intelligent scheduling coordination system is used to obtain the running speed and carriage position of the train according to the process of collecting data by the detection scanning system, and obtain the three-dimensional reconstructed material surface shape according to the three-dimensional model. At the same time, according to the running speed and carriage position of the train and the three-dimensional reconstructed material surface shape, the motion control system and the safety management system are used to control the operation and safety of the spiral pushing device of the flat feeder.

2. According to claim 1, a spiral flat feeder automatic control system based on 3D laser scanning technology is characterized in that: The detection and scanning system consists of three sets of 2D laser scanners. Two sets of 2D laser scanners are installed above the fixed gantry at the front of the flat material machine, which are arranged orthogonally and scan vertically downward in a fan-shaped manner. A set of 2D laser scanners are installed at the rear end, which are arranged orthogonally and scan vertically downward in a fan-shaped manner. The material to be processed is located by three-dimensional scanning, and the flat material machine is controlled to be automatically positioned. Based on the laser scanning technology, the flat material machine is positioned above the material to be processed, and the material surface is scanned to obtain the optimal lower roller position; the 3D scanners on both sides of the flat material machine scan the material information in the car in real time to obtain the material surface condition after each flat material operation; after the flat material is completed, the effect scanning modeling is performed, and after the modeling, it is automatically identified whether there is any irregularity in the material distribution inside the car.

3. According to claim 2, the automatic control system of the spiral flat feeder based on 3D laser scanning technology is characterized in that: The motion control system is used to achieve walking positioning and lifting positioning, wherein: The walking positioning adopts a laser rangefinder and an absolute encoder redundant method to perform positioning measurement, an encoder walking wheel is installed on the walking platform, and a limit switch is installed at a fixed point to calibrate the encoder positioning; The lifting and positioning adopts a vertical rack movement mode, an absolute value encoder is installed on one side of the gear as a lifting mechanism positioning device, and a limit switch performs fixed-point calibration on the encoder.

4. According to claim 3, the automatic control system of the spiral flat feeder based on 3D laser scanning technology is characterized in that: The safety management system uses a safety strategy in which the soft limit set according to the encoder positioning data is the first-level protection, the laser anti-collision protection limit is the second-level protection, and the mechanical limit is the third-level protection; it is connected in series with the emergency stop button on the traction system through a relay. When an emergency occurs or the flat material spiral roller fails below the height of the carriage, the tractor will automatically stop and an audible and visual alarm will be issued on the vehicle.

5. According to claim 4, the automatic control system of the spiral flat feeder based on 3D laser scanning technology is characterized in that: The safety management system is used to achieve unmanned safety management through safety doors, prohibit personnel from illegally entering the unmanned operation area, and set door limits at the entrance of the corresponding flat material machine working area.

6. According to claim 5, the automatic control system of the spiral flat feeder based on 3D laser scanning technology is characterized in that: The safety management system is also used to monitor the situation of the carriage entering the entrance of the flat material machine, the situation of the carriage leaving the operating range of the flat material machine and the maintenance walkway.

7. According to claim 6, the automatic control system of the spiral flat feeder based on 3D laser scanning technology is characterized by: The automatic control system of the spiral flattener is also used to automatically control the lifting height, left and right walking flattening, spiral direction and frequency of the flattener, and moving to a safe position according to the train's speed and the surface height distribution of the materials inside the carriage, so as to improve the flattening efficiency and quality. If the flattening operation is not completed when the train carriage leaves the operating area, the system will prompt an alarm and display which carriage has not completed the flattening.

8. According to claim 7, the automatic control system of the spiral flat feeder based on 3D laser scanning technology is characterized in that: The automatic control system of the spiral flattening machine first identifies the carriage skin, processes each carriage and removes the skin part; secondly, calculates the target height, combines the calculated and processed carriage model volume with the material density, loading weight data and the theoretical value of the carriage volume, and divides it by the bottom area to obtain the final suitable material height after flattening, and then takes the highest point corresponding to each X coordinate, processes the model into a plane diagram, and finally uses the target height line to cut the pile diagram, and divides the wave peaks above the target line downward into grades with the maximum flattening trolley thrust, wherein the lowest grade is the target height, and the gears are at least two; and selects the entry point to connect the grades into a flattening running track.

9. The automatic control system of a spiral flat feeder based on 3D laser scanning technology according to claim 8, characterized in that: The process of selecting the flat material starting point of the spiral flat material machine automatic control system is as follows: 1) Divide the carriage into multiple areas in the direction of travel; 2) Select the area with the most gears to start leveling; 3) Select the leftmost point of the highest wave peak in each gear as the starting point for flattening.

10. The automatic control system of a spiral flat feeder based on 3D laser scanning technology according to claim 9, characterized in that: The automatic control system of the spiral flattening machine is also used to dynamically update the model using the on-board scanner and fine-tune the flattening route; and to judge the flattening effect based on the height difference △h between the highest point and the lowest point of the material in the carriage; at the same time, the running time is estimated according to the trajectory planning, and the time limit is set. If the limit is exceeded, it is prompted that the automatic flattening cannot be completed and the manual intervention process is entered.

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