Automatic positioning and conveying system for conveying machine and transfer trolley comprising automatic positioning and conveying system

Abstract

The invention relates to the technical field of transfer trolley material conveying, and discloses an automatic positioning and automatic material conveying system for a material conveying machine and a transfer trolley comprising the automatic positioning and automatic material conveying system. The method comprises the steps that a path planning algorithm is executed, the optimal path from the material conveying machine to a target position is calculated, and the target position is the position of a hopper; a real-time state feedback strategy is executed, a second control instruction is generated, and the conveying angle of the conveying machine is detected and adjusted in real time; monitoring the height of the material reaching the hopper wall at the end of the time period, executing a fault detection strategy once, and judging whether the material conveying of the material conveyor fails or not; if the material conveying of the material conveying machine breaks down, the material conveying amount of the material conveying machine in unit time is controlled to be reduced by half, a yellow lamp flashes, and a second-level alarm is given out; when the next time period is finished, executing a secondary fault monitoring strategy, and judging whether the material conveying of the material conveying machine fails or not; and if the conveying machine breaks down during conveying, the conveying machine stops conveying materials to the hopper, a red light is flickered, a first-level alarm is given out, and the conveying accuracy is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of material transportation by transfer vehicles, and specifically to an automatic positioning and automatic feeding system for a feeder and a transfer vehicle including the same. Background Art

[0002] In modern construction and logistics industries, the application of positioning and feeding control technologies for material transfer vehicles has greatly improved the efficiency and safety of material transportation. Through a precise positioning system, the transfer vehicle can quickly identify its own position in a complex construction environment, intelligently select the best transportation path, and avoid interference from obstacles. This efficient positioning ability not only shortens the material transportation time but also reduces the risk of accidents caused by operation errors. In addition, the introduction of feeding control technology enables precise control of the speed and volume during the material conveying process, ensuring the stability and consistency of the material during transportation.

[0003] Although the existing positioning and feeding control technologies for material transfer vehicles have improved the efficiency of material transportation to a certain extent, there are still some obvious defects. First, most existing systems rely on fixed paths, which limits their adaptability in a dynamic construction environment. When the environment changes (such as the addition of new obstacles or adjustment of the construction area), the system often cannot update the path planning in time, resulting in a reduction in transportation efficiency. Second, the existing technologies are insufficient in fault detection and real-time feedback, unable to effectively handle possible faults during the feeding process, easily leading to insufficient or excessive material output, and thus causing resource waste and construction delays. In addition, the current monitoring and data analysis functions are often not comprehensive enough, lacking in-depth analysis and real-time feedback on the construction process, which makes construction units lack sufficient data support when making decisions. In summary, the deficiencies of the existing technologies in terms of flexibility, fault response ability, and data analysis limit their application in complex construction environments.

[0004] This solution overcomes the defects of the existing technologies by introducing advanced path planning algorithms, real-time status feedback mechanisms, and comprehensive data monitoring and analysis functions. Summary of the Invention

[0005] The present invention provides an automatic positioning and automatic feeding system for a feeder and a transfer vehicle including the same, which helps to solve the problems mentioned in the above background art.

[0006] In a first aspect, the present application provides an automatic positioning and automatic feeding method for a feeder, adopting the following technical solution: The automatic positioning and automatic feeding method for a feeder includes: Arbitrarily select a point on the ground as the coordinate origin to establish a two-dimensional coordinate system: obtain the position coordinates of the feeder, obtain the position coordinates of the hopper, and obtain the position coordinates of the obstacles between the feeder and the hopper; Execute the path planning algorithm to calculate the optimal path from the feeder to the target position, where the target position is the position of the hopper; Generate the first control instruction according to the result of the executed path planning algorithm, and execute the first control instruction to make the feeder travel along the optimal path; Use the sensors on the feeder to record the data information of the feeder; Execute the real-time status feedback strategy to generate the second control instruction, and detect and adjust the feeding angle of the feeder in real time; Use the liquid level sensor to divide a fixed water level line parallel to the horizontal plane and a changing dynamic water level line on the hopper wall; control the volume of materials transported by the feeder per unit time to be the same; Set a time period for monitoring the material output; Generate the third control instruction, and execute the third control instruction to control the feeding state of the feeder; Monitor the height of the material reaching the hopper wall at the end of the time period, execute a fault detection strategy once, and judge whether there is a fault in the feeding of the feeder; If there is a fault in the feeding of the feeder, then control the amount of materials transported by the feeder per unit time to be halved, flash the yellow light and issue a secondary alarm; At the end of the next time period, execute a secondary fault monitoring strategy to judge whether there is a fault in the feeding of the feeder; If there is a fault in the feeding of the feeder, then stop the feeder from feeding materials into the hopper, flash the red light and issue a primary alarm; Monitor and collect construction data in real time, and analyze the construction data to obtain a construction report; Provide real-time data display and alarm prompts.

[0007] By establishing a two-dimensional coordinate system and obtaining the position coordinates of the feeder and the hopper, and combining the position information of the obstacles, the method for automatic positioning and automatic feeding of the feeder can efficiently and accurately plan the optimal path. The greatest advantage of this method is that it can ensure that the feeder avoids various obstacles during material transportation in a complex construction environment, thereby reducing the possible collision risks and damage to the equipment. At the same time, the application of the path planning algorithm enables the feeder to dynamically adjust the driving route according to the real-time changing environment, improving the flexibility and safety of the operation. In addition, using this method, the feeder can effectively improve the operation efficiency during the working process, shorten the material transportation time, and provide guarantee for the smooth progress of the construction project. Finally, based on these advantages, the construction unit can significantly reduce the operation cost, improve the production efficiency, and enhance the overall operation safety and reliability.

[0008] Preferably, the executed path planning algorithm for calculating the optimal path from the feeder to the target position includes: Select any point on the ground as the coordinate origin O(0, 0) to establish a two-dimensional coordinate system; Obtain the current position of the feeder as S(x s , y s ), the current position of the hopper as G(x g , y g ), and the set of position coordinates of the obstacles as O = {O(x1, y1), O(x2, y2), …, O(x n , y n ), where n represents that there are n obstacle positions in total; Set the coordinate position B(x i , y i ) of node i as the midpoint coordinate position of the line connecting any two adjacent obstacles; Calculate the expected cost h(i) from node i to the target node G, where the target node is the position of the hopper; Calculate the actual cost g(i) from the starting node S to the adjacent node i' of the current node i, g(i) = g(i')+(|x i - x i' | + |y i - y i' |), where the coordinate position of node i' is B'(x i′ , y i′ ), the starting node S is the position of the feeder, and g(i′) is the actual cost from the starting node S to the target node G; Calculate the total cost f(i) of each node, f(i) = g(i)+h(i); Create an open list to store the nodes to be searched; Create a closed list to store the nodes that have been checked; Add the starting node S to the open list; Select the node with the smallest f(i) value from the open list in turn and denote it as a; Judge whether a is the target node G; If a is the target node G, the current path is the optimal path L, and a is put into the closed list; If a is not the target node G, put a into the closed list, and then select the node with the smallest f(i) value from the open list again to repeat the judgment until a is the target node; This method calculates the optimal path from the feeder to the hopper at the target position by executing a path planning algorithm, ensuring the efficiency and accuracy of transportation. By selecting any point on the ground as the coordinate origin, this method not only simplifies the coordinate calculation process but also provides flexible adaptability for the system. When calculating, considering the existence of obstacles can better avoid possible collision problems during transportation, thereby improving safety. In addition, this path planning method has the ability to update dynamically and can adjust the path according to real-time environmental changes to ensure that the feeder always conveys materials along the optimal route. This intelligent path planning enables the feeder to move freely through complex and changing construction sites, greatly improving construction efficiency and safety. At the same time, it reduces the need for human intervention, making the construction process more automated and intelligent.

[0009] Preferably, generating a first control instruction according to the result of the execution path planning algorithm and executing the first control instruction to make the feeder travel along the optimal path includes: Denote all the nodes on the optimal path L as path points, denoted as L = {L1, L2, …, L m}, where m represents that there are m path points on the optimal path; For each path point L i (i = 1, 2, …, m), obtain the coordinates of any two adjacent nodes on the optimal path L, denoted as P i (x i , y i ), P i+1 (x i+1 , y i+1 ); Calculate the movement distance between adjacent path points: Calculate the movement direction between adjacent path points: According to the position G(x g , y g ) of the target node, generate a first control instruction c1 = ((x g , y g ), v, t), where v is the set constant speed and t is the time required to execute this control instruction, denoted as Execute the first control instruction and adjust the movement trajectory according to the position and movement direction of the target node of the instruction.

[0010] Generate a first control instruction according to the result of the path planning algorithm, enabling the feeder to travel along the optimal path. This method provides important support for the automated control of the feeder. By splitting the optimal path into multiple path points, the feeder can precisely control its travel trajectory, thereby achieving a higher level of automated operation. This node-by-node control method can optimize the movement path, ensuring that the feeder maintains a stable speed and direction during travel, reducing the jolting and loss of materials during transportation. At the same time, the generation of the first control instruction ensures the flexibility of the feeder during travel, enabling it to quickly adapt to changes in on-site conditions, promptly adjust the travel direction and speed to cope with different construction environments and task requirements. In this way, not only is the efficiency of material transportation improved, but also the safety of construction is ensured, ultimately providing strong guarantee for the smooth progress of the entire construction project.

[0011] Preferably, implement a real-time status feedback strategy to generate a second control instruction for real-time detection and adjustment of the feeding angle of the feeder, including: When the feeder starts to convey materials to the hopper, obtain the current feeding angle of the feeder; Set a target feeding angle θ', and calculate the error e between the current feeding angle and the target angle θ , e θ = θ' - θ; Calculate the adjustment angle where K p , K i , K d are the proportional, integral, and differential coefficients; calculate the adjusted target angle θ j , θ j = θ + Δθ; According to the current angle and the adjusted target angle of the feeder, calculate the time t required to execute this adjustment θ , where ω represents the angular velocity of the feeder per unit time; Generate the second control instruction c2 = (θ j , t θ , v); Execute the second control instruction, adjust the angle according to the adjusted target angle and time, and continuously monitor and adjust the feeding angle of the feeder.

[0012] By implementing a real-time status feedback strategy, a second control instruction is generated to detect and adjust the feeding angle of the feeder in real time, improving the intelligence level of the system. Real-time monitoring and feedback can ensure that the feeder always operates in the optimal working state during the working process, especially in terms of the material conveying angle, which is crucial for ensuring the smoothness of material flow. By calculating the error between the current feeding angle and the target angle, the system can achieve dynamic adjustment to ensure that the material conveying is always in the best state. This not only improves the material conveying efficiency but also reduces material waste or loss caused by improper angles. In addition, the real-time feedback strategy can enhance the adaptability of the system, enabling it to operate efficiently in various working environments, greatly improving the safety and reliability of the overall construction. Finally, this strategy will help ensure the smooth progress of the construction process, reduce downtime caused by equipment failures, and improve production efficiency.

[0013] Preferably, the generation of the third control instruction and the execution of the third control instruction to control the feeder to start feeding include: setting the time period for monitoring the material output volume as T, and within each time period T, controlling the feeder to convey the same volume V g of materials; It is determined that the container for storing materials by the feeder is a rectangular parallelepiped container; Calculate the target output volume V g1 , V g1 = A·Δh g of the materials conveyed by the feeder within the time period T, where A is the cross-sectional area of the container for storing materials by the feeder, and Δh g1 is the target change in the material height of the container for storing materials by the feeder within the time period T; Calculate the change in material height Δh = h(t + T) - h(t) within the monitoring period T, where h(t + T) represents the material height at the end of the time period, h(t) represents the material height at the start of the time period, and Δh represents the actual change in material height within the monitoring period; Calculate the actual output volume V o , V o = A·Δh of the materials conveyed by the feeder within the time period T; If V o < V g , then the material output is insufficient and the conveying rate needs to be increased; If V o > V g , then the material output is excessive and the conveying rate needs to be decreased; According to the difference between the actual output volume and the target output volume, recalculate the conveying rate v n , v n = v c + K v·(V g - V o ), where v c represents the current conveying rate, and K v represents the gain factor for rate adjustment; Generate the third control instruction c3 = (v n , T); Execute the third control instruction, start feeding according to the recalculated conveying rate, continuously monitor the material height, and adjust the conveying rate in real time according to the monitoring results of each cycle.

[0014] Control the feeder to start feeding by generating the third control instruction, ensuring that the volume of the conveyed material is the same per unit time, so as to complete the conveying task efficiently and with high quality. Setting the monitoring cycle and target output volume can effectively manage the conveying speed and quantity of the material, ensuring that it matches the construction plan. This method can avoid construction delays or material waste caused by insufficient or excessive material conveyance, ensuring the stability and reliability of the material supply chain at the construction site. At the same time, using the liquid level sensor to monitor the material height and setting the dynamic water level line enables the system to monitor the conveying state in real time and adjust the conveying rate in a timely manner, improving the intelligent level of the system. Through such a control and monitoring mechanism, the construction unit can efficiently manage the material conveyance at the dynamically changing construction site, ensure the smooth progress of the construction schedule, and ultimately achieve the optimal allocation of resources.

[0015] Preferably, at the end of the monitoring time cycle when the material reaches the height of the hopper wall, execute the fault monitoring strategy to determine whether there is a fault in the feeder, including: Use the liquid level sensor to draw a fixed water level line parallel to the horizontal plane on the hopper wall; Execute a fault monitoring strategy at the end of each cycle; Measure the current material height h(t + T) and the fixed water level line h f ; Judge whether the current material height h(t + T) reaches the fixed water level line h f ; When h(t + T) < h f , a fault occurs, halve the material output volume, flash the yellow light and send out a secondary alarm signal; Calculate and update the height that the dynamic water level line h d should reach in the next time cycle according to the height of the target material output volume, set the target height change to Δh g2 , h d (t + 2T) = h(t + T) + Δh g2 ; Execute the secondary fault monitoring strategy at the end of the next time cycle 2T; Measure the current material height h(t + 2T) to determine whether it reaches the dynamic water level line h d (t + 2T); When h(t + 2T) < h d (t + 2T), a fault occurs, the material output is stopped, the red light flashes and a first-level alarm signal is issued; the fault detection strategy is executed at the end of the monitoring time period, which can timely judge the feeding state of the conveyor, ensuring the safety and reliability of the construction process. By setting a fixed water level line and a dynamic water level line, the system can automatically check the height of the material in each monitoring cycle to ensure that it is always within a safe range. Once a fault is detected, the material output is immediately halved and an alarm signal is issued, enabling the operator to react quickly and avoid further losses. This fault monitoring mechanism greatly improves the reliability of the system, can effectively reduce the risk of production suspension caused by equipment failures, and ensures the smooth progress of the construction process. At the same time, the secondary fault monitoring strategy further enhances the safety of the system, and can immediately stop the conveying when a more serious fault is found to protect the safety of equipment and personnel. Through such a fault detection and alarm mechanism, the construction unit can effectively respond to potential risks in a complex and changeable construction environment, ensuring the efficiency and safety of the construction work.

[0016] Preferably, the construction data is monitored and collected in real time, the construction data is analyzed to obtain a construction report, and real-time data display and alarm prompts are provided, including: Collect the data of all sensors and record it as D = {D1, D2, … D n ,}, where D n represents that there are n sensors in total, and the sensor data includes the status, movement speed, throwing angle, and material usage of each sensor; Obtain the data in the sensor for statistical analysis and calculate the average value of the data: The maximum value P i : P i = max(D i (t j ))), and the minimum value K i : K i = min(D i (t j ))); Generate a construction stage report according to the analysis results, where the analysis results are the calculation results of the data of each sensor, and upload the generated report and data; Provide an interface for real-time data display, alarm prompts and system status monitoring for the operator.

[0017] Real-time monitor and collect construction data, analyze the data and generate construction reports, providing an important basis for decision-making. This process collects data from multiple sensors, covering key information such as the status of the conveyor, its moving speed, and the material usage. By statistically analyzing this data, the system can calculate the average, maximum, and minimum values, providing comprehensive status information for operators to help detect potential problems in a timely manner. In addition, the generated construction stage reports can provide data support for subsequent construction, optimizing resource allocation and construction plans. This data-driven approach not only improves the transparency of construction but also enhances the scientific nature of management, providing a more effective decision-making tool for construction units. Through real-time data display and alarm prompts, operators can promptly grasp the operating status of the system to ensure the efficiency and safety of the construction process. Therefore, this method greatly improves the efficiency and quality of construction management.

[0018] In a second aspect, the present application provides a conveyor automatic positioning and automatic feeding system, adopting the following technical solutions: The conveyor automatic positioning and automatic feeding system includes: Sensor module: Use sensors to obtain the current position coordinates of the conveyor and the hopper, detect the presence and position coordinates of obstacles, monitor the height of the material in the hopper, monitor the moving speed and conveying rate of the conveyor, and monitor the feeding angle of the conveyor; Path planning module: Calculate the optimal path from the starting node to the target node according to the data information obtained by the sensors; Control instruction generation module: Divide the optimal path into multiple path points, calculate the distance and direction between adjacent path points, generate the first control instruction, generate the second control instruction according to the feeding angle and target angle of the conveyor, and generate the third control instruction according to the material monitoring results and the target output; Monitoring and feedback module: Regularly obtain information such as the current position, angle, and speed of the conveyor, calculate the error between the current state and the target state, and generate feedback; Data acquisition and analysis module: Real-time monitor and collect data collected by each sensor, track each step in the construction process and the material usage, statistically analyze the collected data; Generate construction stage reports, summarize the analysis results and upload them; Alarm system: Perform fault detection at the end of each cycle, judge the relationship between the material height and the water level line, and send different alarm signals according to the type of fault; User interface module: Provide an interface for operators to display real-time data, give alarm prompts, and monitor the system status.

[0019] In a third aspect, the present application provides a transfer vehicle for conveyor automatic positioning and automatic feeding, adopting the following technical solutions: A transfer vehicle for conveyor automatic positioning and automatic feeding; Sensor: It includes a high-precision laser emission and reception device, which is used to measure the position information between the transfer vehicle and the hopper in real time and monitor the height of the materials in the hopper; Central control unit: It includes an embedded processor and a PLC, which are used to receive data from the ranging sensor, execute the path planning algorithm, generate control instructions, and send them to the drive system; Drive system: It includes an electric motor and an actuator, which are used to drive the movement of the transfer vehicle according to the control instructions; Mobile platform: It includes a stable chassis structure equipped with drive wheels and is used to carry out transfer tasks; The material handling device includes: an adjustable conveyor belt, which is used to realize the loading, unloading and handling of materials; Energy management system: It includes a battery pack and a charging module, which are used to ensure the continuous operation of the transfer vehicle; Graphical user interface (GUI): It includes a display screen and an input device, which are used to provide real-time data monitoring, alarm prompts, and system status display, and allow operators to control and adjust the system.

[0020] The present invention has the following beneficial effects: 1. The method for automatic positioning and automatic material transfer of the conveyor. By establishing a two-dimensional coordinate system and obtaining the position coordinates of the conveyor and the hopper, as well as the positions of obstacles, the greatest advantage of this method is to provide efficient automatic positioning capabilities. This method can ensure that the conveyor transports materials along the optimal path in a complex construction environment, thereby significantly reducing the risk of collision and the possibility of equipment damage. The introduction of the path planning algorithm enables the conveyor to adapt to environmental changes in real time and dynamically adjust the driving route, thereby improving the overall flexibility and safety of the operation. In addition, the automatic positioning technology not only improves the operation efficiency, shortens the material transportation time, but also provides reliable guarantee for the construction project. By reducing manual intervention, the construction unit can significantly reduce the operation cost and improve the production efficiency at the same time. Finally, this automated positioning and conveying method ensures the safety and reliability of the construction process and provides important support for the smooth progress of various construction projects.

[0021] 2. The method for automatic positioning and automatic feeding of the feeder ensures the feeder reaches the target position efficiently and accurately by calculating the optimal path through the execution of a path planning algorithm. Selecting any point on the ground as the coordinate origin simplifies the coordinate calculation process and enhances the flexibility of the system. Considering obstacles, the path planning can effectively avoid potential collisions, greatly improving safety. At the same time, the algorithm has the ability to dynamically update the path, enabling real-time adjustment to ensure the feeder always transports materials along the optimal route. This intelligent path planning significantly improves the adaptability and autonomy of the feeder in complex construction environments, providing a guarantee for the smooth progress of the construction process. By reducing interference and obstacles during transportation, construction units can save time and resources, thereby improving overall construction efficiency and safety, and ultimately achieving efficient management and execution of the project.

[0022] 3. The method for automatic positioning and automatic feeding of the feeder generates the first control instruction according to the path planning algorithm, ensuring that the feeder can travel along the optimal path. This process provides a solid foundation for automatic control. By dividing the optimal path into multiple path points, the system can precisely control the movement trajectory of the feeder, thereby improving the movement stability and reducing material loss during transportation. This node-by-node control method effectively optimizes the driving path of the feeder, enabling it to maintain flexibility in complex environments and quickly respond to emergencies. The generation of the first control instruction endows the feeder with a high degree of automation, ensuring that it always maintains the best working state under various working conditions. In addition, this mechanism not only improves the efficiency of material transportation but also ensures equipment safety, ultimately providing a guarantee for the smooth progress of the construction project and enhancing the competitiveness of construction units.

[0023] 4. The method for automatic positioning and automatic feeding of the feeder implements a real-time status feedback strategy to generate the second control instruction, which can effectively detect and adjust the feeding angle of the feeder, further enhancing the intelligence level of the system. By real-time monitoring the working status of the feeder, the system can ensure that it always operates in the best state, especially in terms of the material conveying angle, which is crucial for the flow and conveying efficiency of materials. Calculating the error between the current angle and the target angle enables the system to dynamically adjust and optimize the material conveying process, reducing material waste caused by improper angles. In addition, the real-time feedback strategy enhances the adaptability of the system, enabling it to maintain efficient operation in different working environments. This flexible control method not only improves the overall construction efficiency but also ensures the safety of the construction process, ultimately providing strong support for construction units to achieve efficient and orderly operations.

[0024] 5. The method for automatic positioning and automatic feeding of the feeder ensures that the volume of materials conveyed per unit time is consistent by generating a third control instruction to control the feeder, thereby effectively managing the conveying speed and quantity of materials. This way of setting the monitoring period and the target output quantity can ensure that the supply of materials is consistent with the construction plan, avoiding construction delays or resource waste caused by insufficient or excessive materials. By using the liquid level sensor to monitor the material height and the setting of the dynamic water level line, the system can monitor the conveying state in real time, adjust the conveying rate in a timely manner, and improve the intelligent level of the system. Through effective control and monitoring mechanisms, the construction unit can efficiently manage the material conveying in a dynamically changing construction environment, ensuring the smooth progress of the construction schedule. Ultimately, this method not only optimizes the resource allocation but also ensures the efficiency and reliability of the construction process, providing significant advantages for the construction unit in the fierce market competition.

[0025] 6. The method for automatic positioning and automatic feeding of the feeder executes a fault detection strategy at the end of the monitoring time period, which can timely judge the feeding state of the feeder, thus ensuring the safety and reliability of the construction process. By using the liquid level sensor to set a fixed water level line and a dynamic water level line, the system can automatically check the material height in each cycle to prevent overfeeding or underfeeding. Once a fault is detected, the system can immediately halve the material output and send an alarm signal, enabling the operator to react quickly and reduce potential losses. This fault monitoring mechanism not only improves the reliability of the system, reduces the risk of equipment shutdown, but also enhances the safety of construction. By implementing a secondary fault monitoring strategy, the system can immediately stop the conveying when a fault occurs, protecting the safety of equipment and personnel. Overall, this fault detection and alarm mechanism provides strong safety protection for the construction unit, ensuring the smooth progress of the construction work.

[0026] 7. The method for automatic positioning and automatic feeding of the feeder monitors and collects construction data in real time, providing a reliable basis for decision-making. By collecting data from multiple sensors, covering the feeder state, movement speed, and material usage, etc., the system can provide comprehensive status information to help detect potential problems in a timely manner. Statistical analysis of the data, calculating the average value, maximum value, and minimum value, can improve the transparency of construction and the scientific nature of management. The generated construction stage report provides data support for subsequent construction, helping to optimize resource allocation and construction plans. This data-driven method not only improves the management efficiency of the construction unit but also enhances the accuracy of decision-making, providing a guarantee for the construction unit to respond efficiently in a complex and changeable environment. Ultimately, the real-time data display and alarm prompt enable the operator to timely grasp the system operation status, ensuring the efficiency and safety of the construction process and laying a solid foundation for the smooth implementation of the entire construction project. Description of the Drawings

[0027] Figure 1 This is a schematic diagram of the method flow of the present invention.

[0028] Figure 2 This is a schematic diagram of the system module of the present invention. Specific embodiments

[0029] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0030] Embodiment 1, referring to Figure 1 , a method for automatic positioning and automatic feeding of a feeder, including: Arbitrarily select a point on the ground as the coordinate origin to establish a two-dimensional coordinate system: obtain the position coordinates of the feeder, obtain the position coordinates of the hopper, and obtain the position coordinates of the obstacles between the feeder and the hopper; Execute a path planning algorithm to calculate the optimal path from the feeder to the target position, where the target position is the position of the hopper; Generate a first control instruction according to the result of executing the path planning algorithm, and execute the first control instruction to make the feeder travel along the optimal path; Use the sensors on the feeder to record the data information of the feeder; Execute a real-time status feedback strategy to generate a second control instruction, and real-time detect and adjust the feeding angle of the feeder; Use a liquid level sensor to divide a fixed water level line parallel to the horizontal plane and a changing dynamic water level line on the hopper wall; control the volume of materials transported by the feeder per unit time to be the same; Set a time period for monitoring the material output; Generate a third control instruction, and execute the third control instruction to control the feeding state of the feeder; Monitor the height of the material reaching the hopper wall at the end of the time period, execute a fault detection strategy once, and judge whether the feeding of the feeder is faulty; If the feeding of the feeder fails, control the amount of materials transported by the feeder per unit time to be halved, flash a yellow light and issue a secondary alarm; At the end of the next time period, execute a secondary fault monitoring strategy to judge whether the feeding of the feeder is faulty; If the feeding of the feeder fails, stop the feeder from feeding materials into the hopper, flash a red light and issue a primary alarm; Real-time monitor and collect construction data, and analyze the construction data to obtain a construction report; Provide real-time data display and alarm prompts.

[0031] By establishing a two-dimensional coordinate system and obtaining the position coordinates of the feeder and the hopper, as well as the positions of the obstacles, this method significantly improves the automatic positioning ability of the feeder. In a complex construction environment, the feeder can reliably find the optimal transportation path, greatly reducing the risk of collision and the possibility of equipment damage. The introduction of the path planning algorithm enables the feeder to respond to the changing construction environment in real time and dynamically adjust the driving route to ensure the flexibility and safety of the work. This method not only effectively improves the operation efficiency, shortens the material transportation time, but also provides reliable support for the smooth progress of the construction project. By reducing manual intervention, the construction unit can significantly reduce the operation cost and improve the production efficiency at the same time. This automated positioning and conveying method ensures the safety and reliability of the construction process, provides an important guarantee for the smooth implementation of various construction projects, and ultimately enables the construction unit to gain a significant advantage in the increasingly competitive market.

[0032] Performing the path planning algorithm to calculate the optimal path from the feeder to the target position, including: Select any point on the ground as the coordinate origin O(0, 0) to establish a two-dimensional coordinate system; Obtain the current position of the feeder as S(x s , y s ), the current position of the hopper as G(x g , y g ), and the set of position coordinates of the obstacles as O = {O(x1, y1), O(x2, y2), …, O(x n , y n}, where n represents the total number of obstacle positions; Set the coordinate position B(x i , y i ) of node i as the midpoint coordinate position of the line segment connecting any two adjacent obstacles; Calculate the expected cost h(i) from node i to the target node G, where the target node is the position of the hopper; Calculate the actual cost g(i) from the starting node S to the adjacent node i' of the current node i, g(i) = g(i') + (|x i - x i' | + |y i - y i' |), where the coordinate position of node i' is B'(x i′ , y i′ ), the starting node S is the position of the feeder, and g(i′) is the actual cost from the starting node S to the target node G; Calculate the total cost f(i) of each node, f(i) = g(i) + h(i); Create an open list to store the nodes to be searched; Create a closed list to store the nodes that have been checked; Add the starting node S to the open list; Select the node with the smallest f(i) value from the open list in turn and denote it as a; Judge whether a is the target node G; If a is the target node G, the current path is the optimal path L, and a is put into the closed list; If a is not the target node G, put a into the closed list, and select the node with the smallest f(i) value from the open list again to repeat the judgment until a is the target node; By executing the path planning algorithm, this method can calculate the optimal path of the conveyor to the target position, thus ensuring efficient and accurate material transportation. Selecting any point on the ground as the coordinate origin not only simplifies the coordinate calculation process but also enhances the flexibility and adaptability of the system. When obstacles are taken into consideration, the path planning algorithm effectively avoids potential collision risks and enhances the overall safety. The dynamic update ability of this algorithm enables the conveyor to adjust the transportation route in real time to ensure the optimal path at all times in a complex construction environment. This intelligent path planning not only improves the autonomy and adaptability of the conveyor but also reduces human intervention and improves construction efficiency. Finally, the construction unit can respond to various working conditions, achieve efficient resource management and allocation, and thus ensure the smooth execution and efficient progress of the project.

[0033] Generating a first control instruction according to the result of the execution path planning algorithm and executing the first control instruction to make the conveyor travel along the optimal path includes: Denote all the nodes on the optimal path L as path points, denoted as L = {L1, L2, …, L m}, where m represents that there are m path points on the optimal path; For each path point L i (i = 1, 2, …, m), obtain the coordinates of any two adjacent nodes on the optimal path L, denoted as P i (x i , y i ), P i+1 (x i+1 , y i+1 ); Calculate the movement distance between adjacent path points: Calculate the movement direction between adjacent path points: According to the position of the target node G(x g , yg ) to generate the first control instruction c1 = ((x g , y g ), v, t), where v is the set constant speed and t is the time required to execute this control instruction, denoted as Execute the first control instruction and adjust the movement trajectory according to the position and movement direction of the target node of the instruction.

[0034] By generating the first control instruction according to the path planning algorithm, this method ensures that the feeder travels along the optimal path, providing strong support for automated control. Dividing the optimal path into multiple path points enables the feeder to precisely control its travel trajectory, thereby maintaining a stable speed and direction and reducing material loss during transportation. This node-by-node control method not only optimizes the travel path of the feeder but also enables it to remain flexible in complex construction environments and respond quickly to emergencies. The generation of the first control instruction ensures that the feeder always maintains the best working state under various working conditions, improving the material transportation efficiency. At the same time, ensuring the safe operation of the equipment enables the construction project to proceed smoothly, ultimately enhancing the competitiveness and market position of the construction unit.

[0035] Implement the real-time status feedback strategy to generate the second control instruction, and continuously detect and adjust the feeding angle of the feeder, including: When the feeder starts to convey materials to the hopper, obtain the current feeding angle of the feeder. Set a target feeding angle θ', and calculate the error e between the current feeding angle and the target angle θ , e θ = θ' - θ; Calculate the adjustment angle where K p , K i , K d are the proportional, integral, and differential coefficients; calculate the adjusted target angle θ j , θ j = θ + Δθ; According to the current angle and the adjusted target angle of the feeder, calculate the time t required to execute this adjustment θ , where ω represents the angular velocity of the feeder per unit time; Generate the second control instruction c2 = (θ j , t θ , v); Execute the second control instruction, adjust the angle according to the adjusted target angle and time, and continuously monitor and adjust the feeding angle of the feeder.

[0036] By implementing a real-time status feedback strategy, this method can generate a second control instruction to detect and adjust the feeding angle of the feeder in real time, improving the intelligence level of the system. When the feeder conveys materials to the hopper, real-time monitoring of its working status ensures that it operates under optimal conditions, which is particularly important in controlling the material conveying angle. By calculating the error between the current angle and the target angle, the system can make dynamic adjustments to ensure smooth material flow, thereby optimizing the conveying efficiency. This real-time feedback mechanism enables the system to have higher adaptability and continue to operate efficiently in different working environments. This flexible control method not only improves the construction efficiency but also ensures the safety of the construction process, ultimately providing strong support for the construction unit to achieve efficient and orderly operations.

[0037] The generation of the third control instruction and the execution of the third control instruction to control the feeder to start feeding include: Set the time period for monitoring the material output volume as T. Within each time period T, control the feeder to convey the same volume V g of materials; Identify the container for storing materials in the feeder as a rectangular parallelepiped container; Calculate the target output volume V g1 of the material conveyor to convey materials within the time period T, V g1 = A·Δh g , where A is the cross-sectional area of the container for storing materials in the feeder, and Δh g1 is the target change in the material height of the container for storing materials in the feeder within the time period T; Calculate the change in material height Δh = h(t + T) - h(t) within the monitoring period T, where h(t + T) represents the material height at the end of the time period, h(t) represents the material height at the start of the time period, and Δh represents the actual change in material height within the monitoring period; Calculate the actual output volume V o of the material conveyor to convey materials within the time period T, V o = A·Δh; If V o < V g , then the material output is insufficient and the conveying rate needs to be increased; If V o > V g , then the material output is excessive and the conveying rate needs to be decreased; According to the difference between the actual output volume and the target output volume, recalculate the conveying rate v n , v n = v c + K v ·(V g - V o ), where vc represents the current conveying rate, K v represents the gain factor for rate adjustment; generate the third control instruction c3 = (v n , T); Execute the third control instruction, start feeding according to the recalculated conveying rate, continuously monitor the material height, and adjust the conveying rate in real time according to the monitoring results of each cycle.

[0038] By generating the third control instruction, this method ensures that the volume of materials conveyed by the feeder per unit time is the same, thereby effectively managing the conveying speed and quantity of materials. Setting the monitoring cycle and target output volume mechanism enables the material supply to be consistent with the construction plan, avoiding construction delays or resource waste caused by insufficient or excessive materials. Using the liquid level sensor to monitor the material height and the setting of the dynamic water level line enables the system to monitor the conveying state in real time and adjust the conveying rate in a timely manner. This effective control and monitoring mechanism enables the construction unit to efficiently manage the conveying of materials in a dynamically changing construction environment, ensuring the smooth progress of the construction. Ultimately, this method not only optimizes resource allocation but also ensures the efficiency and reliability of the construction process, providing significant advantages for the construction unit in the fierce market competition.

[0039] At the end of the monitoring time cycle, when the material reaches the height of the hopper wall, execute the fault monitoring strategy to determine whether there is a fault in the feeder, including: Use the liquid level sensor to draw a fixed water level line parallel to the horizontal plane on the hopper wall; At the end of each cycle, execute a fault monitoring strategy once; Measure the current material height h(t + T) and the fixed water level line h f ; Judge whether the current material height h(t + T) reaches the fixed water level line h f ; When h(t + T) < h f , a fault occurs, halve the material output volume, flash the yellow light and send out a secondary alarm signal; Calculate and update the dynamic water level line h d to the height that should be reached in the next time cycle, set the target height change to Δh g2 , h d (t + 2T) = h(t + T) + Δh g2 ; At the end of the next time cycle 2T, execute the secondary fault monitoring strategy; Measure the current material height h(t + 2T) and judge whether it reaches the dynamic water level line h d (t + 2T); When h(t + 2T) < h d (t + 2T), a fault occurs, the material output stops, the red light flashes, and a first-level alarm signal is issued. By implementing a fault detection strategy at the end of the monitoring time period, this method can timely determine the feeding status of the conveyor, thus ensuring the safety and reliability of the construction process. By using a liquid level sensor to set a fixed water level line and a dynamic water level line, the system can automatically check the material height within each cycle to prevent overfeeding or underfeeding. Once a fault is detected, the system can immediately halve the material output and issue an alarm signal to ensure that the operator can react quickly and reduce potential losses. This fault monitoring mechanism improves the reliability of the system, reduces the risk of equipment downtime, and also enhances the safety of the construction. By implementing a secondary fault monitoring strategy, the system can immediately stop the conveyance when a fault occurs, further protecting the safety of equipment and personnel. This mechanism provides strong safety protection for the construction unit, ensures the smooth progress of the construction work, and improves the execution efficiency.

[0040] The real-time monitoring and collection of construction data, the analysis of construction data to obtain a construction report, and the provision of real-time data display and alarm prompts include: Collect the data of all sensors and record it as D = {D1, D2, … D n,}, where D n represents that there are n sensors in total, and the sensor data includes the status, movement speed, throwing angle, and material usage of each sensor; Obtain the data in the sensor for statistical analysis and calculate the average value of the data: The maximum value P i : P i = max(D i (t j ))), and the minimum value K i : K i = min(D i (t j ))); Generate a construction stage report according to the analysis results, where the analysis results are the calculation results of the data of each sensor, and upload the generated report and data; Provide an interface for real-time data display, alarm prompts, and system status monitoring for the operator.

[0041] By monitoring and collecting construction data in real time, this method provides a reliable basis for decision-making. Collecting data from multiple sensors, including the state of the feeder, the movement speed, and the material usage, enables the system to provide comprehensive status information and helps to detect potential problems in a timely manner. Statistical analysis of the data, calculating the average value, maximum value, and minimum value, improves the transparency of construction and the scientific nature of management. The resulting construction stage report provides strong data support for subsequent construction, optimizing resource allocation and construction plans. This data-driven method not only improves the management efficiency of construction units but also enhances the accuracy of decision-making, providing guarantee for construction units to respond efficiently in a complex and changing environment. Finally, real-time data display and alarm prompts enable operators to timely grasp the system operation status, ensuring the efficiency and safety of the construction process and laying a solid foundation for the smooth implementation of the entire construction project.

[0042] Embodiment 2, referring to Figure 2 , for the automatic positioning and automatic feeding system of the feeder, including: Sensor module: Using sensors to obtain the current position coordinates of the feeder and the hopper, detect the presence and position coordinates of obstacles, monitor the height of the material in the hopper, monitor the movement speed and conveying rate of the feeder, and monitor the feeding angle of the feeder; Path planning module: According to the data information obtained by the sensors, calculate the optimal path from the starting node to the target node; Control instruction generation module: Divide the optimal path into multiple path points, calculate the distance and direction between adjacent path points, generate the first control instruction, generate the second control instruction according to the feeding angle and target angle of the feeder, and generate the third control instruction according to the material monitoring result and target output; Monitoring and feedback module: Regularly obtain information such as the current position, angle, and speed of the feeder, calculate the error between the current state and the target state, and generate feedback; Data acquisition and analysis module: Real-time monitor and collect the data collected by each sensor, track each step in the construction process and the material usage, perform statistical analysis on the collected data; Generate a construction stage report, summarize the analysis results and upload; Alarm system: Perform fault detection at the end of each cycle, judge the relationship between the material height and the water level line, and send different alarm signals according to the type of fault; User interface module: Provide an interface for operators to display real-time data, give alarm prompts, and monitor the system status.

[0043] Embodiment 3, A transfer vehicle for the automatic positioning and automatic feeding of the feeder, including: Sensor: including a high-precision laser emission and reception device, used to measure the position information between the transfer vehicle and the hopper in real time and monitor the height of the material in the hopper; Central control unit: It includes an embedded processor and a PLC, which are used to receive data from the ranging sensor, execute the path planning algorithm, generate control instructions, and send them to the drive system; Drive system: It includes an electric motor and an actuator, which are used to drive the movement of the transfer vehicle according to the control instructions; Mobile platform: It includes a stable chassis structure equipped with drive wheels and is used to carry out the transfer task; The material handling device includes: an adjustable conveyor belt, which is used to realize the loading, unloading and handling of materials; Energy management system: It includes a battery pack and a charging module, which are used to ensure the continuous operation of the transfer vehicle; Graphical user interface (GUI): It includes a display screen and an input device, which are used to provide real-time data monitoring, alarm prompts, and system status display, and allow operators to control and adjust the system.

[0044] It should be noted that in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "including", "comprising" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, but also includes other elements not expressly listed, or also includes elements inherent to such process, method, article or device.

[0045] The above are only the preferred embodiments of the present invention. It should be pointed out that for those of ordinary skill in the art, without departing from the technical principle of the present invention, several improvements and refinements can be made, and these improvements and refinements should also be regarded as the protection scope of the present invention.

Claims

1. Method for automatic positioning and automatic material feeding of a material feeder, characterized in that, Including: Arbitrarily select a point on the ground as the coordinate origin to establish a two-dimensional coordinate system: obtain the position coordinates of the conveyor, obtain the position coordinates of the hopper, and obtain the position coordinates of the obstacles between the conveyor and the hopper; Execute the path planning algorithm to calculate the optimal path from the conveyor to the target position, where the target position is the position of the hopper; Generate a first control instruction according to the result of executing the path planning algorithm, and execute the first control instruction to make the conveyor travel along the optimal path; Use the sensors on the conveyor to record the data information of the conveyor; Execute the real-time status feedback strategy to generate a second control instruction, and detect and adjust the feeding angle of the conveyor in real time; Use the liquid level sensor to divide a fixed water level line parallel to the horizontal plane and a changing dynamic water level line on the hopper wall; Control the volume of materials transported by the conveyor per unit time to be the same; Set a time period for monitoring the material output; Generate a third control instruction, and execute the third control instruction to control the feeding state of the conveyor; Monitor the height of the material reaching the hopper wall at the end of the time period, execute a fault detection strategy once, and judge whether the conveyor is malfunctioning during feeding; If the conveyor malfunctions during feeding, control the amount of materials transported by the conveyor per unit time to be halved, flash the yellow light and issue a secondary alarm; At the end of the next time period, execute a secondary fault monitoring strategy to judge whether the conveyor is malfunctioning during feeding; If the conveyor malfunctions during feeding, stop the conveyor from feeding materials into the hopper, flash the red light and issue a primary alarm; Real-time monitor and collect construction data, and analyze the construction data to obtain a construction report; Provide real-time data display and alarm prompts.

2. The method for automatic positioning and automatic material feeding of the material conveyor according to claim 1, wherein The executed path planning algorithm calculates the optimal path from the conveyor to the target position, including: Select an arbitrary point on the ground as the coordinate origin O(0, 0) to establish a two-dimensional coordinate system; Obtain the current position of the feeder as S(x s , y s ), the current position of the hopper as G(x g , y g ), and the set of position coordinates of the obstacles as O = {O(x1, y1), O(x2, y2), …, O(x n , y n ), where n represents that there are n obstacle positions in total; Set the coordinate position B(x i , y i ) of node i as the midpoint coordinate position of the line segment connecting any two adjacent obstacles; Calculate the expected cost h(i) from computing node i to the target node G. The target node is the position of the hopper. Calculate the actual cost g(i) from the starting node S to the adjacent node i' of the current node i, where g(i) = g(i') + (|x i - x i' | + |y i - y i' |), and the coordinate position of node i' is B'(x i′ , y i′ ). The starting node S is the position of the feeder, and g(i') is the actual cost from the starting node S to the target node G; Calculate the total cost f(i) of each node, f(i)=g(i)+h(i); Create an open list for storing nodes to be searched; Create a closed list for storing nodes that have been checked; Add the starting node S to the open list; Successively select the node with the smallest f(i) value from the open list, denoted as a; Judge whether a is the target node G; If a is the target node G, the current path is the optimal path L, and a is put into the closed list; If a is not the target node G, put a into the closed list, and select the node with the smallest f(i) value from the open list again to repeat the judgment until a is the target node.

3. The method for automatic positioning and automatic material feeding of the material feeder according to claim 2, wherein, Generating a first control instruction according to the result of the execution path planning algorithm, and executing the first control instruction to make the feeder travel along the optimal path, including: marking all nodes on the optimal path L as path points, denoted as L = {L1, L2, …, L m}, where m represents that there are m path points on the optimal path; For each path point L i (i = 1, 2, …, m), obtain the coordinates of any two adjacent nodes on the optimal path L, denoted as P i (x i , y i ), P i+1 (x i+1 , y i+1 ); Calculate the movement distance between adjacent path points: Calculate the movement direction between adjacent path points: According to the position G(x g , y g ), generate the first control instruction c1 = ((x g , y g ), v, t), where v is the set constant speed and t is the time required to execute this control instruction, denoted as Execute the first control instruction, and adjust the movement trajectory according to the position and movement direction of the target node of the instruction.

4. The method for automatic positioning and automatic feeding of the feeder according to claim 1, characterized in that The executed real-time status feedback strategy generates a second control instruction to detect and adjust the feeding angle of the conveyor in real time, including: When the conveyor starts to transport materials to the hopper, obtain the current feeding angle of the conveyor; Set a target feeding angle θ', and calculate the error e between the current feeding angle and the target angle θ , e θ = θ' - θ; Calculate the adjustment angle where K p , K i , K d are the proportional, integral, and derivative coefficients; calculate the adjusted target angle θ j , θ j = θ + Δθ; Calculate the time t required to perform this adjustment based on the current angle and the adjusted target angle of the feeder θ , where ω represents the angular velocity of the feeder per unit time; Generate the second control instruction c2 = (θ j , t θ , v); Execute the second control instruction, adjust the angle according to the adjusted target angle and time, and continuously monitor and adjust the feeding angle of the conveyor.

5. The method for automatic positioning and automatic feeding of the feeder according to claim 1, wherein The generated third control instruction, execute the third control instruction to control the conveyor to start feeding, including: Set the time period for monitoring the output volume of the monitored material as T. Within each time period T, control the conveyor to transport the same volume V g of the material; Identify the container for storing materials on the conveyor as a cuboid container; Calculate the target output volume V of the material conveyor transporting materials within the time period T g1 , V g1 = A·Δh g , where A is the cross-sectional area of the container for storing materials in the conveyor, and Δh g1 is the target change in the material height of the container for storing materials in the conveyor within the time period T; Calculate the change in material height Δh = h(t + T) - h(t) within the monitoring period T, where h(t + T) represents the material height at the end of the time period, h(t) represents the material height at the start of the time period, and Δh represents the actual change in material height within the monitoring period; Calculate the actual output V of the material conveyor transporting materials within the time period T o , V o = A·Δh; If V o < V g , the material output is insufficient and the conveying rate needs to be increased; If V o > V g , then the material output is excessive and the conveying rate needs to be reduced; Recalculate the conveying rate v according to the difference between the actual output and the target output n , v n = v c + K v ·(V g - V o ), where v c represents the current conveying rate, and K v represents the gain factor for rate adjustment; Generate the third control instruction c3 = (v n , T); Execute the third control instruction, start feeding according to the recalculated conveying rate, continuously monitor the material height, and adjust the conveying rate in real time based on the monitoring results of each cycle.

6. The method for automatic positioning and automatic feeding of the feeder according to claim 1, characterized in that At the end of the monitoring time period, when the material reaches the height of the hopper wall, execute the fault monitoring strategy to determine whether there is a fault in the feeder, including: using a liquid level sensor to draw a fixed water level line parallel to the horizontal plane on the hopper wall; At the end of each cycle, execute the fault monitoring strategy once; Measure the current material height h(t + T) and the fixed water level line h f ; Determine whether the current material height h(t + T) reaches the fixed water level line h f ; When h(t + T) < h f a fault occurs, the material output is halved, the yellow light flashes, and a secondary alarm signal is issued; Update the dynamic water level line h according to the height calculation of the target material output d To the height that should be reached within the next time period, set the target height change to Δh g2 , h d h(t + 2T) = h(t + T) + Δh g2 ; At the end of the next time period 2T, execute the secondary fault monitoring strategy; Measure the current material height h(t + 2T) to determine whether it reaches the dynamic water level line h d (t + 2T); When h(t + 2T) < h d (t + 2T), a fault occurs, the material output stops, the red light flashes, and a first-level alarm signal is issued.

7. The method for automatic positioning and automatic material feeding of the material conveyor according to claim 1, characterized in that The real-time monitoring and collection of construction data, analyzing the construction data to obtain a construction report, and providing real-time data display and alarm prompts, including: Collect the data of all sensors and denote it as D = {D1, D2, … D n ,}, where D n represents that there are n sensors in total, and the sensor data includes the status, movement speed, delivery angle, and material usage of each sensor; Obtain the data in the sensor for statistical analysis and calculate the average value of the data: Maximum value P i : P i = max(D i (t j )) and minimum value K i : K i = min(D i (t j )); Generate a construction stage report based on the analysis results. The analysis results are the calculation results of the data of each sensor, and upload the generated report and data of the analysis; Provide an interface for operators for real-time data display, alarm prompts, and system status monitoring.

8. An automatic positioning and automatic feeding system for a feeder, which is applied to the method for automatic positioning and automatic feeding of the feeder according to any one of claims 1-7, characterized in that Include: Sensor module: Use sensors to obtain the current position coordinates of the feeder and the hopper, detect the presence and position coordinates of obstacles, monitor the material height in the hopper, monitor the movement speed and conveying rate of the feeder, and monitor the feeding angle of the feeder; Path planning module: Calculate the optimal path from the starting node to the target node according to the data information obtained by the sensors; Control instruction generation module: Divide the optimal path into multiple path points, calculate the distance and direction between adjacent path points, generate the first control instruction, generate the second control instruction according to the feeding angle and target angle of the feeder, and generate the third control instruction according to the material monitoring results and the target output; Monitoring and feedback module: Regularly obtain information such as the current position, angle, and speed of the feeder, calculate the error between the current state and the target state, and generate feedback; Data acquisition and analysis module: Real-time monitor and collect the data collected by each sensor, track each step in the construction process and the material usage, perform statistical analysis on the collected data; generate a construction stage report, summarize the analysis results and upload; Alarm system: Perform fault detection at the end of each cycle, judge the relationship between the material height and the water level line, and issue different alarm signals according to the type of fault; User interface module: Provide an interface for operators for real-time data display, alarm prompts, and system status monitoring.

9. A transfer vehicle for automatic positioning and automatic material feeding of a material conveyor, which is applied to the method for automatic positioning and automatic material feeding of the material conveyor according to any one of claims 1-7, characterized in that, Include: Sensor: Includes a high-precision laser emission and reception device for real-time measurement of the position information between the transfer vehicle and the hopper and monitoring the material height in the hopper; Central control unit: Includes an embedded processor and a PLC, which are used to receive the data of the ranging sensor, execute the path planning algorithm, generate control instructions, and send them to the drive system; Drive system: Includes an electric motor and an actuator for driving the movement of the transfer vehicle according to the control instructions; Mobile platform: It includes a stable chassis structure equipped with drive wheels and is used to carry out transfer tasks; The material handling device includes: an adjustable conveyor belt, which is used to realize the loading, unloading and handling of materials; Energy management system: It includes a battery pack and a charging module, which are used to ensure the continuous operation of the transfer vehicle; Graphical User Interface (GUI): It includes a display screen and an input device, which are used to provide real-time data monitoring, alarm prompts, and system status display, and allow operators to control and adjust the system.

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