Multi-port deploying fast and balanced loading station based on laser point cloud vision and design method

Abstract

The invention relates to a multi-port allocation fast and balanced loading station based on laser point cloud vision and a design method.The multi-port allocation fast and balanced loading station comprises a steel structure frame, the steel structure frame is sequentially provided with a belt conveyor head and a surge bin from top to bottom, two independent quantitative bins with the same horizontal height and chutes matched with the quantitative bins are arranged below the surge bin, and a loading channel is arranged below the chutes; an entrance barrier gate and an exit barrier gate are arranged at an entrance and an exit of the loading channel respectively, and a plurality of laser radars used for tracking the vehicle tail, tracking the front part of the carriage, identifying the carriage and the vehicle head, and measuring the height of the side parts of the carriage, the width of the carriage and the height of the bottom plate of the carriage are arranged along the loading channel. The two quantitative bins and the corresponding chutes are arranged, in the whole design process, the whole loading process is accurately analyzed, the accurate positions between the compartment and the two chutes are accurately calculated, and through rapid weighing and blanking by using gravity, and meanwhile, according to the length of the truck compartment or two-section or three-section uniform discharging, the loading efficiency is improved. And the whole loading process is quick, balanced and efficient.

Description

TECHNICAL FIELD

[0001] The present application relates to a multi-port matching rapid equalization loading station based on laser point cloud vision and a design method, which is an equipment and design method for automatic intelligent transport machinery, and is a loading station and design method for automatic intelligent loading of bulk materials in freight vehicles. BACKGROUND

[0002] With the rapid development of the material transportation industry, loading efficiency and loading quality have become one of the key factors affecting logistics operation cost and transportation safety. In particular, during the storage and loading process of materials such as coal and ore, how to achieve efficient and uniform loading operation is the core task of the storage and transportation system.

[0003] In recent years, with the rapid development of digital technology, the development of intelligent loading systems has been widely recognized, but the efficiency and effect of unmanned loading are both the goal of the loading system and the contradictory problem, that is, the efficiency of loading is improved, but the effect of loading is not ideal, or the effect of loading is good, but the efficiency of loading is reduced. Therefore, how to meet the loading efficiency and ensure the loading effect is the goal that technology workers have been pursuing.

[0004] The existing intelligent truck loading system mainly has two forms:

[0005] 1. Rapid quantitative loading method:

[0006] A hopper scale (40 tons) is provided above the truck loading channel, and the hopper scale is also called a quantitative bin. A buffer bin (100 tons) is provided above the quantitative bin. The buffer bin is pre-loaded with the required amount of material by controlling the buffer bin gate. When the truck compartment reaches the unloading point below the quantitative bin, the quantitative bin has already been loaded with the required amount of material before the truck is positioned. The telescopic chute is extended to the top of the truck compartment, and the quantitative bin unloading gate is fully opened. The material is discharged through the large opening of the unloading gate in a free-fall manner, and is quickly loaded into the truck compartment along the chute. When the material fills the chute and the space below the chute, the truck moves slowly, and the lower edge of the chute is close to the upper edge of the truck compartment to achieve loading while moving. The advantages are short loading time, no material scattering, low maintenance, and low requirement for driver cooperation. The disadvantages are that when loading large-capacity trucks, the lower edge of the chute cannot be inserted into the truck compartment to scrape the material for loading due to the presence of pull rods and steel wires at the truck compartment opening, which can cause front and rear uneven loading (front heavy and rear light). In order to avoid uneven loading, the drive wheels may not be heavy enough, which can cause safety hazards for road travel. The material is mainly accumulated in the front part of the truck compartment, and the rear three wheels are not heavy enough, which can cause the truck to skid and spin when braking. The material is mainly accumulated in the middle of the truck compartment, and the drive wheels (front two wheels) are not heavy enough, which can cause the drive wheels to skid and lack driving force.

[0007] 2. Sprinkle type truck scale weighing loading method:

[0008] The loading amount is weighed in real time by the truck scale under the loading channel, and the unloading mechanism (gate, pusher, scraper, coal feeder, etc.) is used to sprinkle the loading into the carriage. The advantage is that the loading effect is controllable, and the disadvantage is that the loading time is long (low efficiency) in the way of weighing and loading.

[0009] There is a mobile track type truck scale weighing loading method, the truck is parked and does not move, and is parked on the truck scale that can move back and forth, and is sprinkled by the system. The advantage is that the driver does not need to operate the truck, the requirement for the driver's cooperation is low, and the loading effect is controllable. The disadvantage is that the sprinkling loading efficiency is low, and the back and forth movement of the truck scale increases the waiting time of the rear truck, and the overall loading efficiency is reduced.

[0010] The loading efficiency of method 2 is limited by its physical characteristics, and the weighing and loading can only be realized by slow sprinkling (reducing the unloading flow), which cannot achieve the loading efficiency of method 1. The fast and quantitative loading method of method 1 can meet the requirement of loading efficiency, but another way is needed to improve the loading effect. One way is to use the way of separate pile loading, which can meet the ideal loading effect of driving safety according to the carriage volume and position. The disadvantage is that the separate pile loading needs to be unloaded in multiple times, which inevitably lengthens the loading time and reduces the loading efficiency.

[0011] How to balance, efficiently and quickly load the truck is a problem that needs to be solved in the design of the loading station. SUMMARY

[0012] In order to overcome the problems of the prior art, the present application provides a multi-port adjustment rapid and balanced loading station based on laser point cloud vision and a design method. The method designs a truck loading station with two or more quantitative bins and corresponding chutes, uses gravity weighing for loading, improves the loading speed, and loads according to the length of the carriage, so that the loading is more balanced and the unbalanced load is avoided.

[0013] The purpose of the present application is achieved by a multi-port adjustment rapid and balanced loading station based on laser point cloud vision, which comprises a steel structure frame, wherein the steel structure frame is sequentially provided from top to bottom with a belt conveyor head, a buffer bin, at least two quantitative bins with the same horizontal height and independence below the buffer bin and chutes matched with the quantitative bins, a loading channel below the chutes, an entrance gate and an exit gate respectively arranged at the entrance and the exit of the loading channel, and a plurality of laser radars arranged along the loading channel for tracking the tail of the truck, tracking the front of the carriage, identifying the carriage and the head, measuring the height of the side of the carriage, the width of the carriage and the height of the bottom plate of the carriage.

[0014] Furthermore, there are two quantitative bins, which are at the same horizontal height and are arranged sequentially along the loading channel.

[0015] Furthermore, the chute is a telescopic chute.

[0016] Furthermore, the laser radar is installed at the outlet of the chute and above the loading channel, arranged in one or two rows along the loading channel.

[0017] A method for designing a multi-port dispatching and fast equalization loading station based on laser point cloud vision, comprising the following steps:

[0018] Step 1, Real-world analysis of loading applications: Analyze various commonly used trucks, classify the length of the truck bed according to the load capacity, size, and volume of the truck bed, and prepare for determining the overall structure of the loading station; To cope with the existing truck bed lengths, divide the bed length into two types: long bed and short model, design at least two independent quantitative bins and their chutes that can simultaneously dispense and weigh materials, forming the basic structure of the loading station, and through the analysis of these basic structures, determine the loading process as two-piles loading or three-piles loading, that is: two-piles loading involves unloading materials at the front and rear of the truck bed using different chutes to form two material piles at the front and rear, and three-piles loading involves unloading materials at the front and rear of the truck bed using different chutes, and then unloading a third pile in the middle of the truck bed to form balanced loading;

[0019] Step 2, Determining the number and location of chutes: Based on the analysis of the loading trucks, determine the number of chutes at the loading station and the corresponding quantitative bins, and determine the loading plan based on the number of chutes.

[0020] Step 3, deploy lidar: Set up two barriers in the loading lane. Use the entrance barrier to allow trucks to enter, and use the exit barrier to block trucks and restrict their parking area.

[0021] Multiple lidar sensors are deployed at different locations in the loading lane to track the rear of the vehicle, track the front sill, identify the cargo box / front of the vehicle, and measure the height of the side sills, the width of the cargo box, and the height of the cargo box floor.

[0022] The method and process for measuring the three-dimensional data of the carriage are as follows:

[0023] A. Establish a spatial coordinate system with the center line of the ground passage for truck travel as the x-axis, the point on which the entrance gate is projected onto the x-axis as the spatial coordinate 0 point, the line connecting the entrance gate and coordinate 0 point as the y-axis, and the line perpendicular to the ground and upward from coordinate 0 point as the z-axis.

[0024] B. Point cloud denoising: Remove discontinuous point clouds, such as laser points that jump around in 3D data, and sporadic outliers;

[0025] C. Valid point selection: Based on the general dimensions of the carriage and the distance measured on site;

[0026] The positioning basis of the x-axis is the range of the carriage to be scanned in the x-axis direction of the loading channel; the positioning basis of the y-axis is to meet the requirement of the maximum width of the carriage. Since the truck travels in a straight line during loading, the range of the carriage in the y-axis direction can be covered by ±1.8 in the y-axis direction; the positioning basis of the z-axis direction is to cover from the vehicle floor to the highest position of the truck.

[0027] D. Eigenvalue matching:

[0028] D1 Rear-end point cloud matching: Find N1 laser points in the point cloud of the rear-end tracking radar. The difference in x values between any two of them is less than 0.05, and there are no other valid points screened as in item C between these N laser points and the coordinate 0 point. If the number of point clouds is greater than N1, it is identified as the rear-end point cloud, and then the subsequent point cloud matching is performed;

[0029] D2 Front-end point cloud matching: Search for multiple laser points in the point cloud sent by the lidar above the loading channel after being screened by item C. The quantity threshold is N2, and their z values satisfy 3.5 < z < 3.9. If the quantity is greater than N2 (the quantity threshold), then this batch of point clouds is the point clouds falling on the front of the vehicle; when the front-end point cloud is identified, if the x values of this piece of point cloud are all greater than the x value of the front chute in three-dimensional space, it means that the front of the vehicle has passed over the front chute, and then the subsequent point cloud matching is performed;

[0030] D3 Front vehicle side rail point cloud matching: Search in the point cloud sent by the lidar above the loading channel after being screened by item C, and in the front-end point cloud found as in D3, search for multiple laser points with x < (x1 - 1.0) in the negative x-axis direction. The quantity threshold is N3, and their z values satisfy 1.7 < z < 3.0, and the difference in x values between every two laser points is less than 0.05. If the number of point clouds is greater than N3, it is identified as the front vehicle side rail point cloud, and then the subsequent point cloud matching is performed;

[0031] D4 Vehicle floor point cloud matching: Search for multiple laser points in the point cloud sent by the lidar above the loading channel after being screened by item C. The quantity threshold is N4, and their z values satisfy 1.2 < z < 1.7, and their x values are between the rear vehicle side rail point cloud and the front vehicle side rail point cloud in the x-axis direction. If the number of point clouds is greater than N4, it is identified as the vehicle floor point cloud, and then the subsequent point cloud matching is performed;

[0032] D5 Side rail point cloud matching: Search for multiple laser points in the point cloud sent by the lidar above the loading channel after being screened by item C. Their x values are in the middle of the rear vehicle side rail point cloud and the front vehicle side rail point cloud in the x-axis direction. Find the point with the largest z value in the z-axis direction, and its z value is the height of the vehicle side rail. Find the points with the largest and smallest y values in the positive and negative y-axis directions respectively, and the difference in their y values is the width of the carriage;

[0033] E. Target value extraction: According to item D, find the value of the target to be measured in the points after feature value matching;

[0034] Step 4: Calculate the volume of the wagon and determine the loading conditions:

[0035] The three-dimensional dimensions of the truck body are obtained from LiDAR scanning. Let the standard load capacity of the truck be G. n The bulk density of the material is ρ, the angle of repose of the material is α, and the length of the carriage as scanned by the lidar is L. n The height H of the side rails of the carriage n Width W n ,get:

[0036] G n =L n *(H n +0.1)*W n *ρ

[0037] Loading is permitted only when the volume of the truck bed is greater than the volume of the materials to be loaded.

[0038]

[0039] Step 5, determine the loading sections: according to the formula:

[0040]

[0041] The relationship between the represented material volume and the three-dimensional dimensions of the car determines whether the current loading car is loaded with two or three piles of material. If the above relationship is satisfied, it is loaded with three piles of material; otherwise, it is loaded with two piles of material.

[0042] Step 6, Segmented Loading: Regardless of whether the material is loaded in two or three piles, chute 1 is used to scrape and load the material near the front sill of the car, while chute 2 is loaded according to the formula:

[0043]

[0044] Chinese x G Material is scraped and loaded at the coordinate location;

[0045] If the material is loaded in two piles, the material distribution G1 in quantitative bin 1 and the material distribution G2 in quantitative bin 2 are each distributed at half the standard load.

[0046] If the material is loaded in three piles, the first batching G3 in quantitative silo 1 and the batching G4 in quantitative silo 2 are respectively calculated according to the following formulas:

[0047] G3 = G n / 2-G t / 2 = 0.75 * G n -0.25*L n *(H n +0.1)*W n *ρ

[0048] and the formula:

[0049] G4 = G3 = G n / 2-G t / 2 = 0.75 * G n -0.25*L n *(H n +0.1)*W n *ρ

[0050] Prepare the ingredients;

[0051] After the first discharge from the pre-filled silo 1, the following formula is used:

[0052] G t =(L n *(H n +0.1)*W n *ρ-G n ) / 2

[0053] The second batching of ingredients is started in the quantitative silo 1. t When the middle position of the carriage is aligned with the leading edge of the lower opening of chute 1, the second feeding of material from quantitative bin 1 is initiated.

[0054] Furthermore, the segmented loading process in step 6 includes the following steps:

[0055] Two piles loaded onto the truck:

[0056] Sub-step 1.1: Dispense materials into each of the two quantitative bins at half the standard load capacity;

[0057] Sub-step 1.2: Instruct the truck to be loaded to move forward until the front of the truck bed is aligned with the chute 1 and then stop;

[0058] Sub-step 1.3: The chute 1 extends to the upper edge of the car body and begins to unload and load materials;

[0059] Sub-step 1.4: When the material pile in the truck reaches the top edge of the truck, direct the truck to move forward slowly;

[0060] Sub-step 1.5: When the carriage reaches position x of chute 2 G :

[0061] When in position, direct the truck to stop, extend the chute 2 to the top edge of the truck bed, release material from the metering bin 2 and scrape the material to load the truck, and when the material pile in the truck bed reaches the top edge of the truck bed, direct the truck to move forward slowly;

[0062] Sub-step 1.6: When the rear slab of the vehicle passes over chute 1, the chute is lifted, and the loading is completed;

[0063] Three piles loaded onto the truck:

[0064] Sub-step 2.1: The first batching G3 in quantitative bin 1 and the batching G4 in quantitative bin 2 are respectively carried out according to the formula:

[0065] G3 = G n / 2-G t / 2 = 0.75 * G n -0.25*L n *(H n +0.1)*W n *ρ

[0066] and the formula:

[0067] G4 = G3 = G n / 2-G t / 2 = 0.75 * G n -0.25*L n *(H n +0.1)*W n *ρ

[0068] Prepare the ingredients;

[0069] Sub-step 2.2: Instruct the truck to be loaded to move forward until the front of the truck bed is aligned with the chute 1 and then stop;

[0070] Sub-step 2.3: The chute 1 extends to the upper edge of the car body and begins to unload and load materials;

[0071] Sub-step 2.4: When the material pile in the truck reaches the top edge of the truck, direct the truck to move forward slowly;

[0072] Sub-step 2.5: When the carriage reaches the position of chute 2:

[0073] When in position, chute 2 extends to the upper edge of the car body, metering bin 2 discharges material and scrapes the material for loading;

[0074] Sub-step 2.6: When the material pile in the truck reaches the top edge of the truck, direct the truck to move forward slowly;

[0075] Sub-step 2.7: When the first unloading of quantitative silo 1 is completed, the second batching is started. The second batching of quantitative silo 1 is carried out according to the following formula:

[0076] G t =(L n *(H n +0.1)*W n *ρ-G n ) / 2;

[0077] Sub-step 2.8: When the middle position of the truck bed is aligned with the front edge of the lower opening of the chute 1, instruct the truck to stop and start the second discharge of the quantitative bin 1. When the height of the material pile in the truck bed reaches the upper edge of the truck bed, instruct the truck to move forward slowly until the quantitative bin 1 is emptied.

[0078] Sub-step 2.9: When the rear sill of the car passes chute 1, the system controls the chute to lift, and the loading is completed.

[0079] The advantages and beneficial effects of this invention are as follows: This invention sets up two quantitative bins and corresponding chutes. The entire design process accurately analyzes the entire loading process and accurately calculates the precise position between the truck bed and the two chutes. By rapidly weighing and utilizing gravity to drop the material, the loading speed is accelerated. At the same time, the loading is carried out in sections according to the length of the truck bed, or the material is evenly released in two or three sections, making the entire loading process fast, balanced and efficient. Attached Figure Description

[0080] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0081] Figure 1 This is a schematic diagram of the overall structure of the loading station described in Embodiment 1 of the present invention;

[0082] Figure 2 This is a schematic diagram of the two-section loading station described in Embodiment 2 of the present invention;

[0083] Figure 3 This is a schematic diagram of the three-section loading station described in Embodiment 2 of the present invention;

[0084] Figure 4 This is a flowchart of the method described in Embodiment 5 of the present invention;

[0085] Figure 5 This is a schematic diagram of the initial material loading in a two-dimensional coordinate system according to the method described in Embodiment 5 of the present invention;

[0086] Figure 6 This is a schematic diagram of the complete loading in a two-dimensional coordinate system according to the method described in Embodiment 5 of the present invention;

[0087] Figure 7 This is a schematic diagram of the loading effect of the double chute unloading method described in Embodiment 5 of the present invention;

[0088] Figure 8 This is a schematic diagram of the eccentric loading situation during double-chute unloading in the method described in Embodiment 5 of the present invention;

[0089] Figure 9 This is a schematic diagram illustrating the prediction of the two-stage loading effect of the method described in Embodiment 5 of the present invention;

[0090] Figure 10This is a schematic diagram illustrating the effect of filling the gap between the two sections of the loading process described in Embodiment 5 of the present invention.

[0091] Figure 11 This is a schematic diagram of the loading effect of the method with two large gaps described in Embodiment 5 of the present invention;

[0092] Figure 12 This is a schematic diagram of the loading effect of filling the two gaps in the method described in Embodiment 5 of the present invention;

[0093] Figure 13 This is a schematic diagram of the three-stage loading effect of the method described in Embodiment 5 of the present invention. Detailed Implementation

[0094] Example 1:

[0095] This embodiment is a multi-port dispatching and fast equalization loading station based on laser point cloud vision, such as... Figure 1 As shown. This embodiment includes a steel structure frame 1, which is arranged from top to bottom as follows: a belt conveyor head 2, a buffer bin 3, and at least two independent quantitative bins 4 with the same horizontal height and a chute 5 matching the quantitative bins below the buffer bin. The chute is located below a loading channel, and the loading channel is equipped with an entrance barrier 6 and an exit barrier 7 at its entrance and exit, respectively. Multiple lidar sensors 8 are installed along the loading channel to track the rear of the vehicle, track the front rail of the vehicle, identify the vehicle and the front of the vehicle, and measure the height of the side rails, the width of the vehicle, and the height of the floor of the vehicle.

[0096] This embodiment utilizes multiple quantitative silos for coordinated unloading and loading, improving loading efficiency while ensuring even loading, preventing uneven load distribution, and guaranteeing safe load-bearing capacity for the truck's front and rear axles. The basic idea is to employ a highly efficient quantitative silo loading method: first, quantitative silos are used for material dispensing and weighing; then, chutes are used to scrape the material close to the truck bed for loading, ensuring high efficiency. Multiple quantitative silos at the same horizontal level are set up for weighing and unloading, and a truck bed is divided into multiple sections. Multiple quantitative silos and chutes are used to unload each section of the truck bed at different times or simultaneously, achieving rapid and even loading. In a special case, a loading station may have only two quantitative silos and chutes. Loading is done at different times or simultaneously for the front and rear halves of a truck bed. If there is a gap between the two sections of material piles that is not filled, material is added again to either of the two quantitative silos to fill the gap, thus meeting the safe load-bearing capacity requirements for the truck's front and rear axles.

[0097] In this embodiment, the steel structure frame is the main body of the loading station. The belt conveyor lifts the material to the top of the steel structure frame and pours it into the buffer bin. The buffer bin stores a certain amount of material so that the material can be continuously dispensed into each quantitative bin during the loading process of multiple trucks to meet the loading requirements.

[0098] A buffer silo can dispense ingredients from multiple quantitative silos simultaneously, or multiple buffer silos can be set up in the order of the quantitative silos to dispense ingredients from the corresponding quantitative silos, making the dispensing process faster.

[0099] A crucial element in this embodiment is the lidar system. LiDAR is used to monitor the size and dynamic position of the loading trucks. Deploying more lidar units allows for more accurate point cloud information, leading to more precise control of the loading process. LiDAR units can be evenly distributed along the top of the loading aisle, with dedicated lidar units at the bottom of the chute for monitoring its movement.

[0100] Example 2:

[0101] This embodiment is an improvement upon Embodiment 1, detailing the number of quantitative bins. This embodiment uses two quantitative bins, both at the same horizontal height, arranged sequentially along the loading channel.

[0102] This embodiment sets up two quantitative bins. Based on the order in which trucks enter the loading channel, the bins that reach the front of the truck bed are quantitative bin 1 and chute 1, respectively. Figure 2 , 3 In section 401 and 501, the first quantitative bins that the trucks arrive at before entering the loading lane are designated as quantitative bin 2 and chute 2, respectively. Figure 2 , 3 402 and 502. Quantitative bin 1 and chute 1 are specifically for loading the front half of the car's material pile 1, where the material pile 1 is located... Figure 2 , 3 The label 901 indicates that the quantitative bin 2 and chute 2 are specifically used to load the rear half of the car body's material pile 2. The material pile 2 is located in... Figure 2 , 3 The label is 902. When the loading method is three-section, an inverted triangular pile 3 will also appear between pile 1 and pile 2 (pile 3 is in...). Figure 2 , 3 The number in the middle is 903)

[0103] Example 3:

[0104] This embodiment is an improvement upon the above embodiment, and a refinement of the chute described in the above embodiment. The chute described in this embodiment is a telescopic chute.

[0105] Since the trucks are stationary when loading begins, the chute does not need to be tilted; it can simply move up and down. Using a telescopic chute is relatively simple.

[0106] Example 4:

[0107] This embodiment is an improvement upon the above embodiment, detailing the laser radar setup. In this embodiment, the laser radar is positioned at the outlet of the chute and above the loading channel, arranged in one or two rows along the loading channel.

[0108] Because the point clouds acquired by each lidar need to be closely correlated, a relatively large number of lidars are required. This implementation example... Figure 1 As shown, lidar is installed along the truck's direction of travel throughout the loading lane, covering the entire lane. This allows for the identification of the truck's cab, length, front and rear sills of the cargo box, as well as the side sills and height of the cargo box. This enables precise calculation of the cargo box's volume and real-time monitoring of the loading process.

[0109] Example 5:

[0110] This embodiment presents a multi-port dispatching and rapid equalization loading station design method based on laser point cloud vision. The process is as follows: Figure 4 As shown:

[0111] Step 1, Loading Application Real-Scenario Analysis: Analyze various commonly used trucks, classify the length of the truck bed according to the load capacity, size and volume of the truck bed, and prepare for determining the overall structure of the loading station;

[0112] Based on the number of axles, trucks are classified into four-axle trucks and six-axle trucks. The vast majority of trucks used in applications are six-axle trucks, as research has shown:

[0113] The length of the six-axle truck body ranges from 8.0 to 13.3 meters, the height from 2.7 to 3.7 meters, the width from approximately 2.5 meters, and the floor height from 1.2 to 1.6 meters. The volume of the truck body varies. The approved gross vehicle weight for trucks on the road is 49 tons. However, due to the varying tare weights of trucks, the actual load capacity (standard load) is around 32 tons. Generally, the longer and taller the truck body (larger volume), the greater the tare weight, the smaller the load capacity, and the more severe the uneven loading.

[0114] Let's take a six-axle vehicle as an example.

[0115] To ensure balanced loading of the wagons, a stacked loading method must be adopted without affecting loading time. To this end, a multi-port allocation and rapid balanced material unloading method is proposed, which uses multiple quantitative bins to ensure that at least one quantitative bin is unloading at the same time to guarantee loading efficiency. Multi-point unloading is carried out in a synchronous or asynchronous manner to ensure balanced loading.

[0116] The conversion from a single fixed-volume hopper to multiple fixed-volume hoppers must first be analyzed from an economic perspective. Replacing the original single fixed-volume hopper (whose volume must meet a 40-ton load requirement) with N fixed-volume hoppers reduces the volume of each hopper to 40 / N, thus lowering the vertical height occupied by each hopper. With the same buffer hopper roof height, reducing the fixed-volume hopper height can either increase the buffer hopper height or maintain a lower buffer hopper height within the same buffer hopper capacity. This improves buffer hopper energy efficiency or reduces construction costs, and the gains essentially offset the increased cost of converting from a single fixed-volume hopper to multiple hoppers (primarily the cost of the additional weighing system).

[0117] From a technical perspective, 2-4 quantitative loading bins are ideal. A larger number makes it easier to achieve balanced loading, but for short-carriage loading, the bins near the rear gate have lower utilization rates and are often left vacant. Taking all factors into consideration, using two quantitative loading bins for synchronous or asynchronous balanced loading achieves a balance between economics and technology, satisfying the requirements for balanced loading while improving loading efficiency and equipment utilization.

[0118] The basic requirements for multi-compartment loading are that all compartments have the same capacity and height, and can be adapted to various existing vehicle models. The space arrangement needs to be adapted to a vehicle model with the worst cargo box dimensions (smallest volume), using the shortest cargo box length of 8.0 meters as a reference. The loading effect is as follows: Figure 4 As shown, the chutes of the two quantitative bins can load the car body of this model simultaneously, with each quantitative bin dispensing half of the standard load.

[0119] Based on the above analysis, the basic structure of a loading station is as follows: Figure 1 As shown. To address the varying lengths of existing truck bodies, the truck body length is categorized into long-body and short-body types. At least two independent quantitative bins and their chutes capable of simultaneous material dispensing and weighing are designed to form the basic structure of the loading station. Through analysis of these basic structures, the loading process is determined to be either two-stage or three-stage loading. Specifically, two-stage loading involves unloading material at the front and rear of the truck body using different chutes, forming two material piles, such as... Figure 2 As shown, the three-stage loading involves unloading material from the front and rear sections of the car using different chutes, followed by a third unloading in the middle of the car to achieve balanced loading. Figure 3 As shown.

[0120] Step 2, Determining the number of chutes and the location of (quantitative bins): Based on the analysis of the loading trucks, determine the number of chutes at the loading station and the corresponding quantitative bins, and determine the loading plan based on the number of chutes.

[0121] Assume the truck bed volume is sufficient to meet the standard load requirements. Assume the shortest six-axle truck bed length is 8.0 meters, the minimum front rail height is 2.7 meters, and the floor height is 1.5 meters. Establish a two-dimensional coordinate system with the intersection of the front rail and the floor as the zero point. Figure 5 Line segment ABCD represents the boundary of the rectangular car body from a side view angle. The lengths of segments AB, CD, and EF are 2.7 - 1.5 = 1.2 meters. Segment EF is the centerline of the car body. Point H is the leading edge of the lower opening of chute 1, and point P is the leading edge of the lower opening of chute 2. The angle of repose of the material pile is set at 60 degrees. To avoid collision between the lower opening of the chute and the reinforcing pipes or wire ropes near the upper opening of the car body, the lower opening of the chute should be 0.1 to 0.2 meters higher than the upper opening of the car body. Figure 5 Point P has a y-axis coordinate value 0.1-0.2 greater than point E, and point H has a y-axis coordinate value 0.1-0.2 greater than point C. Chute 1 starts discharging material from the front sill of the car. To prevent material from spilling from above the front sill, a distance of 0.1 to 0.2 meters needs to be maintained. Figure 5 The x-axis coordinate value of point H is 0.1-0.2 greater than that of point C.

[0122] like Figure 6 The material is loaded into the car body by two quantitative bins and unloaded evenly. The length of the PE section in the x-axis direction is ((1.2+0.1) / 2 / tan60=0.375 m) and the length of the PH section is (0.375+4=4.375 m).

[0123] After determining the locations of the two chutes (quantitative bins), the unloading schemes for the two chutes were then determined. Chute 2 is used to load the rear part of the truck bed, and chute 1 is used to load the front part of the truck bed. When the front rail of the truck bed is aligned with the front opening of chute 1, the truck stops, and both chutes simultaneously unload equal weights of material into the truck bed. When the material fills the chutes and the portion of the truck bed below the chutes, the truck starts and begins the scraping and loading operation.

[0124] Before loading, it is necessary to first determine whether the truck's volume is sufficient. If the ratio of the standard load to the material density is greater than the measured volume, loading will not be allowed and a warning will be issued. This method uses several lidar sensors to scan the truck bed and obtain the length, width, and height (volume) data.

[0125] Step 3, deploy lidar: Set up two barriers in the loading lane. Use the entrance barrier to allow trucks to enter, and use the exit barrier to block trucks and restrict their parking area.

[0126] Install 1 lane barrier at the entrance of the loading channel (on the left side of the truck driving lane); in front of the loading channel (the front as described in the method is referenced by the driving direction of the truck), below the loading chute 1, at the starting position of loading (the front edge of the front chute is aligned with the front of the truck bed), arrange 1 lane barrier at the farthest distance corresponding to the front windshield of the truck head. The function of the barrier at the entrance is to prevent the following vehicle from entering (affecting the tracking of the rear of the truck bed), and the barrier in front of the chute 1 is to prevent the truck from deviating from the loading area, both of which are to improve the accuracy and reliability of the subsequent three-dimensional scanning of the carriage.

[0127] Arrange multiple lidars at different spatial positions in the loading channel, which are used to track the rear of the truck, track the front of the truck bed, identify the carriage / truck head, and measure the height of the side panel, the width of the carriage, the height of the carriage floor, etc.

[0128] Place the lidar for tracking the rear of the truck at the entrance barrier of the loading channel (on the side of the loading channel facing the chute, that is, the right side of the channel). After the entire carriage passes through the barrier, measure the spatial position coordinates of the rear of the truck bed in real time;

[0129] Beside each chute, arrange 1 or more lidars above the loading lane, which are used to identify (whether) the carriage (truck head) and measure data such as the height of the upper edge of the side panel, the height of the carriage floor, the width of the carriage, etc.

[0130] Use 1 point cloud processing server to collect the laser point clouds collected by multiple lidars through Ethernet, and calculate the three-dimensional data of the carriage through steps such as point cloud denoising, effective point screening, eigenvalue matching, and target value extraction.

[0131] The method and process for measuring the three-dimensional data of the carriage are as follows:

[0132] A. Establish a spatial coordinate system. Take the center line of the ground channel where the truck travels as the x-axis (the driving direction is the positive direction of the x-axis), the point where the entrance barrier projects onto the x-axis as the spatial coordinate 0 point, the line connecting the entrance barrier and the coordinate 0 point as the y-axis, and the line perpendicular to the ground upward from the coordinate 0 point as the z-axis;

[0133] B. Point cloud denoising: Screen out the jumping and discrete point clouds, such as the laser points with three-dimensional data jumps, sporadic outlier points, etc.;

[0134] C. Effective point screening (following the above B, screening in the denoised point cloud): Based on the general dimensions of the carriage - the width of the carriage is about 2.5 meters, the height of the carriage is 2.7 - 3.7 meters, and the measured distance on the spot - the farthest distance from the truck head to the entrance barrier is 20 meters, screen out the laser points falling on the truck according to the condition that the xyz of the point cloud satisfies 0.0 < x < 20.0, -1.8 < y < 1.8, 1.1 < z < 3.9;

[0135] The positioning basis of the x-axis is the range of the carriage to be scanned in the x-axis direction of the loading channel; the positioning basis of the y-axis is to meet the requirement of the maximum width of the carriage. Since the truck moves in a straight line during loading and the vehicle width is about 2.5 meters, the range of ±1.8 in the y-axis direction can cover the range of the carriage in the y-axis direction; the positioning basis in the z-axis direction is to cover the vehicle floor (the lowest is 1.2 meters) to the highest position of the truck (the highest is 3.9 meters).

[0136] D. Eigenvalue matching (continuing from C above, perform eigenvalue matching in the filtered point cloud):

[0137] D1 Rear-end point cloud matching: Find N1 laser points (N1 is the matching threshold, related to the line density of the lidar) in the point cloud of the rear-end tracking radar, where the difference in x values between any two of them is less than 0.05, and there are no other valid points screened as in item C between these N laser points and the coordinate 0 point (in the x-axis direction). If the number of point clouds is greater than N1, it is identified as the rear-end point cloud, and then the subsequent point cloud matching is carried out.

[0138] D2 Front-end point cloud matching (different from the carriage): Search for multiple laser points in the point cloud sent by the lidar above the loading channel after being screened by item C. The quantity threshold is N2, and their z values satisfy 3.5 < z < 3.9 (the front-end height is between 3.5 meters and 3.8 meters). If the quantity is greater than N2 (the quantity threshold), then this batch of point clouds is the point clouds falling on the front-end of the vehicle when recognized as the front-end point cloud. If the x values of this piece of point cloud are all greater than the x value of the front chute in three-dimensional space, it means that the front-end has crossed the front chute, and then the subsequent point cloud matching is carried out.

[0139] D3 Front-side bar point cloud matching: Search in the point cloud sent by the lidar above the loading channel after being screened by item C, and search for multiple laser points with x < (x1 - 1.0) in the negative x-axis direction from the front-end point cloud found in D3 (find the point with the smallest x value in the front-end point cloud and set it as x1). The value "1.0" comes from the minimum distance of 1.0 meters between the front-end and the carriage. The quantity threshold is N3, and their z values satisfy 1.7 < z < 3.0 (in the positive z-axis direction above the vehicle floor), and the difference in x values between every two laser points is less than 0.05. If the number of point clouds is greater than N3, it is identified as the front-side bar point cloud, and then the subsequent point cloud matching is carried out.

[0140] D4 Carriage floor point cloud matching: Search for multiple laser points in the point cloud sent by the lidar above the loading channel after being screened by item C. The quantity threshold is N4, and their z values satisfy 1.2 < z < 1.7 (the carriage floor height is between 1.2 meters and 1.7 meters), and their x values are between the rear-side bar point cloud and the front-side bar point cloud of the carriage in the x-axis direction. If the number of point clouds is greater than N4, it is identified as the carriage floor point cloud, and then the subsequent point cloud matching is carried out.

[0141] D5 Side Barrier Point Cloud Matching: Search for multiple laser points in the point cloud sent by the LiDAR above the loading channel after filtering in item C. The x-value of the laser point is located between the point cloud of the rear barrier and the point cloud of the front barrier of the vehicle in the x-axis direction. Find the point with the largest z-value in the z-axis direction. The z-value is the height of the barrier. Find the point with the largest y-value and the point with the smallest y-value in the positive and negative y-axis directions respectively. The difference between their y-values ​​is the width of the vehicle.

[0142] E. Target value extraction: According to item D, find the value of the target to be measured in the points after feature value matching. For example, D1 is the average value of the x-value of the rear point cloud - the position of the rear of the vehicle; D3 is the average value of the x-value of the front sill point cloud - the position of the front sill; D4 is the average value of the x-value of the floor point cloud - the height of the floor; D5 is the maximum z-value of the side sill point cloud - the height of the side sill; D5 is the difference between the maximum and minimum y-values ​​of the side sill point cloud - the width of the vehicle body.

[0143] The 3D data of the truck bed was measured when the truck was near the loading position (the point cloud of the truck front was close to the exit gate) and nearly stationary. This was to avoid data deviation in time and space caused by the movement of the truck bed.

[0144] Step 4: Calculate the volume of the wagon and determine the loading conditions:

[0145] The three-dimensional dimensions of the truck body are obtained from LiDAR scanning. Let the standard load capacity of the truck be G. n The bulk density of the material is ρ (unit: t / m³). 3 The material's angle of repose is α, and the length of the carriage scanned by the lidar is L. n The height H of the side rails (panels) of the carriage n Width W n .

[0146] Depend on Figure 6 We can obtain:

[0147] G n =L n ×(H n +0.1)×W n ×ρ Equation 1

[0148] Loading is permitted only when the volume of the truck bed is greater than the volume of the materials to be loaded, as shown in Equation 2 (which can be derived from Equation 1).

[0149]

[0150] Due to variations in car length and height—that is, when the car length and height are increased—simultaneous discharge from both chutes can still result in uneven loading. Figure 7 The materials inside the carriage were piled in two heaps, which basically met the loading requirements, but if Figure 8 Although the materials inside the carriage were piled in two heaps, the load at the rear of the carriage was still too low.

[0151] The above-mentioned equal loading of the double chute cannot fully meet the requirements of balanced loading. It is necessary to appropriately move the unloading position of chute 2 to the rear of the truck bed according to the length and height of the truck bed. That is, after the truck is in place, unload the material with chute 1 first, start chute 1 to scrape the material and load the truck, and after the truck has moved a certain distance, stop the truck and start chute 2 to unload (scrape the material) and load the truck.

[0152] Therefore, determining the truck's position when loading into chute 2 requires geometric calculations. However, the difficulty in determining the geometric shape of the material piles between stockpiles 1 and 2 increases the complexity of these calculations. To address this, we can assume that chute 2 loads from the rear of the truck, similar to how chute 1 loads from the front of the truck towards the rear of the cargo box, thus determining the location of the unloading point P of chute 2.

[0153] like Figure 9 In contrast to Figure 6 The dimensions of the wagon compartment, when the volume of the wagon compartment increases, create an inverted triangular gap between stack 1 and stack 2; for example... Figure 10 As the volume of the car continues to increase (the height of the car increases), a complete inverted triangular gap is separated between stockpile 1 and stockpile 2. The apex of the inverted triangle coincides with the bottom of the car. At this time, the x-coordinate of the unloading point P2 of chute 2 is derived as follows.

[0154] Let the length of segment A2P2 be x.

[0155] Multiplying the volume of stockpile 2 by its density gives half the standard load:

[0156]

[0157] From equation 3, we can find x and get:

[0158]

[0159] From Equation 3, the x-coordinate of P2 can be obtained as:

[0160]

[0161] From geometric figures, it is not difficult to derive the relationship between standard load capacity and car dimensions (volume) as shown in Equation 6:

[0162]

[0163] Unload at point P2, as shown in equation 5. As the volume of the car body continues to increase (the length of the car body increases), increase it to the following position: Figure 11 As shown, relation 7 can be obtained from equation 6:

[0164]

[0165] If the length of the carriage is further increased, the following will occur: Figure 8The off-center loading situation is shown. To overcome this problem, it can be done as follows: Figure 10 The two piles of materials were loaded separately at the front and rear of the truck bed, with the loading effect as follows: Figure 11 As shown, the problem seems to be solved. However, if the volume of the truck bed continues to increase, the empty space in the middle of the bed will become increasingly larger. Although this meets the requirement of balanced loading at the front and rear, the excessive weight at the rear will still affect the truck's ability to climb hills. Therefore, it is necessary to find a way to remove an equal amount of weight from the rear of stockpile 1 and the rear of stockpile 2, and load it into the middle of the truck bed, such as... Figure 12 and Figure 13 The shaded area, like this Figure 13 The loading effect is very scientific, that is, the front two axles of the carriage have sufficient load, and the situation where the center of gravity of the carriage is biased towards the rear three axles is alleviated (that is, the weight at the rear of the carriage is reduced).

[0166] like Figure 13 The weights of material pile 1 and material pile 2 are the same. Material pile 1 is fed and loaded from the front of the car by chute 1, and material pile 2 is fed and loaded from P4 by chute 2. The x-coordinate of P4 can be obtained as shown in Equation 5. Figure 12 , 13 The weight of the shaded area is weighed by the metering bin 1 and discharged from the chute 1 at point E4 in the middle of the car. The weight of the shaded area will now be determined.

[0167] Figure 13 The weight of the shaded area, i.e., the weight of the second batching in chute 1, can be taken as... Figure 11 The weight of material G that can be filled into the half-volume space in the middle of the carriage that is not fully filled. t That is, the weight that the carriage can carry minus the standard load capacity, then divided by 2, as shown in Formula 8:

[0168] G t =(L n *(H n +0.1)*W n *ρ-G n Formula 8 () / 2

[0169] Let the weight of the first batch of materials in chute 1 be G1, and the weight of the first batch of materials in chute 2 be G2.

[0170] G1 = G n / 2-G t / 2 = 0.75 * G n -0.25*L n *(H n +0.1)*W n *ρ Equation 9

[0171] G2 = G1 = G n / 2-G t / 2 = 0.75 * G n-0.25*L n *(H n +0.1)*W n *ρ Formula 10

[0172] Step 5, determine the loading segments: If the car body volume is large enough to accommodate the standard load capacity, determine whether the car will be loaded in two or three piles according to the relationship between the material volume and the three-dimensional dimensions (volume) of the car body as represented by Equation 7. If the relationship of Equation 7 is satisfied, then load in three piles; otherwise, load in two piles.

[0173] Step 6, Segmented Loading: Regardless of whether the material is loaded in two or three piles, (quantitative bin 1) chute 1 scrapes the material and loads it near the front sill of the car, (quantitative bin 2) chute 2 loads the material according to formula 5 x G The material is scraped and loaded onto the truck at the coordinate location.

[0174] If the material is loaded in two piles, the material in quantitative bin 1 and quantitative bin 2 shall be dispensed at half the standard load capacity respectively.

[0175] If the material is loaded in three piles, the first batching of quantitative bin 1 and the first batching of quantitative bin 2 are carried out according to formulas 9 and 10 respectively. When the weight of quantitative bin 1 is 0 (indicating that quantitative bin 1 has completed the first unloading), the second batching is carried out according to formula 8 (starting the second batching). When the middle position of the car is aligned with the leading edge of the lower opening of chute 1, the second unloading of quantitative bin 1 is started.

[0176] Example 6:

[0177] This embodiment is an improvement upon Embodiment 5, and a refinement of the segmented loading process in Step 6 of Embodiment 5. The segmented loading process described in this embodiment includes the following steps:

[0178] Two piles loaded onto the truck:

[0179] Sub-step 1.1: Dispense materials into each of the two quantitative bins at half the standard load capacity;

[0180] Since the loading is done in two batches, each of the two pre-load bins will be filled with half of the standard load for this loading. The standard load refers to the amount to be loaded in this shipment, determined based on factors such as the commercial contract or the amount to be loaded on other trucks.

[0181] Sub-step 1.2: Instruct the truck to be loaded to move forward until the front of the truck bed is aligned with the chute 1 and then stop;

[0182] The wagons to be loaded pass through the entrance gate into the loading channel and, under the guidance of the loading station system, proceed to the first stopping position, namely: the position where the front rail of the wagon is aligned with chute 1. Figure 5 Point H in the diagram.

[0183] Sub-step 1.3: Chute 1 extends to the top edge of the car and begins to unload and load material, as shown below. Figure 5As shown, it should be noted that, Figure 5 It is a special case that when chute 1 reaches point H, chute 2 just reaches point P. This is a special case. Under normal circumstances, when chute 1 reaches point H, chute 2 may not have reached point P or may have exceeded point P. This requires adjusting the position of the car when discharging material from chute 2.

[0184] Sub-step 1.4: When the height of the material pile in the truck reaches the top edge of the truck (at this time, when the real-time weight of quantitative bin 1 decreases by 8-12 tons, determine whether the bottom of quantitative bin 1 and the truck are filled with material according to the height and width of the truck), direct the truck to move forward slowly;

[0185] Sub-step 1.5: When the carriage reaches the position of chute 2:

[0186] When in position, direct the truck to stop, extend chute 2 to the top edge of the truck bed, release material from metering bin 2 and scrape the material to load the truck. When the material pile in the truck bed reaches the top edge of the truck bed (when the real-time weight of metering bin 2 decreases by 8-12 tons, determine whether the space between the bottom of metering bin 1 and the truck bed is filled with material based on the height and width of the truck bed), direct the truck to move forward slowly.

[0187] Sub-step 1.6: When the rear slab of the vehicle passes over chute 1, the chute is lifted, and the loading is completed;

[0188] Three piles loaded onto the truck:

[0189] The three-pile loading is implemented based on the two-pile loading method. Initially, the two-pile loading method is set up: one pile is loaded near the front of the car, and another pile is loaded near the rear. A portion of material from the rear of each pile is then unloaded in the middle of the car. The unloading position of chute 2 is determined according to the two-pile unloading method, such as... Figure 11 The coordinates of P4 are the unloading position of chute 2, and their coordinates can be obtained according to formula 5. Calculate the weight of the second batching of quantitative bin 1 (material is released in the middle of the car), and determine the weight of the first batching of quantitative bin 1 and the weight of the first batching of quantitative bin 2.

[0190] Sub-step 2.1: The first batching of quantitative bin 1 and the batching of quantitative bin 2 are respectively carried out according to the formula:

[0191] G3 = G n / 2-G t / 2 = 0.75 * G n -0.25*L n *(H n +0.1)*W n *ρ

[0192] and the formula:

[0193] G4 = G3 = G n / 2-G t / 2 = 0.75 * G n -0.25*L n *(H n +0.1)*W n *ρ

[0194] Prepare the ingredients;

[0195] Sub-step 2.2: Instruct the truck to be loaded to move forward until the front of the truck bed is aligned with the chute 1 and then stop;

[0196] Sub-step 2.3: The chute 1 extends to the upper edge of the car body and begins to unload and load materials;

[0197] Sub-step 2.4: When the height of the material pile in the truck reaches the top edge of the truck (at this time, when the real-time weight of quantitative bin 1 decreases by 8-12 tons, determine whether the bottom of quantitative bin 1 and the truck are filled with material according to the height and width of the truck), direct the truck to move forward slowly;

[0198] Sub-step 2.5: When the carriage reaches the position of chute 2:

[0199] When in position, chute 2 extends to the upper edge of the car body, metering bin 2 discharges material and scrapes the material for loading;

[0200] Sub-step 2.6: When the height of the material pile in the truck reaches the top edge of the truck, (when the real-time weight of quantitative bin 2 decreases by 8-12 tons, determine whether the bottom of quantitative bin 1 and the truck are filled with material according to the height and width of the truck), direct the truck to move forward slowly;

[0201] Sub-step 2.7: When the first unloading of quantitative silo 1 is completed (the weight of material in quantitative silo 1 is 0), the second batching is started. The second batching of quantitative silo 1 is carried out according to the following formula:

[0202] G t =(L n *(H n +0.1)*W n *ρ-G n ) / 2;

[0203] Sub-step 2.8: When the middle position of the carriage is aligned with the leading edge of the lower opening of chute 1 ( Figure 12 (At position E4), direct the truck to stop and start the second discharge of quantitative silo 1. When the material pile in the truck reaches the top edge of the truck, direct the truck to move slowly forward until quantitative silo 1 is emptied (the weight of the material in quantitative silo 1 is 0).

[0204] The material pile formed by the second unloading of quantitative silo 1 is an inverted triangle (pile 3), sandwiched between pile 1 and pile 2, as shown below. Figure 12 As shown.

[0205] Sub-step 2.9: When the rear sill of the car passes chute 1, the system controls the chute to lift, and the loading is completed.

[0206] Finally, it should be noted that the above is only used to illustrate the technical solution of the present invention and not to limit it. Although the present invention has been described in detail with reference to the preferred arrangement, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solution of the present invention (such as the structural form of the loading station, the application of various formulas, the order of steps, etc.) without departing from the spirit and scope of the technical solution of the present invention.

Claims

1. A multi-port dispatching and rapid equalization loading station based on laser point cloud vision, comprising a steel structure frame, wherein the steel structure frame is arranged from top to bottom as follows: a belt conveyor head and a buffer bin, characterized in that, Below the buffer compartment, at least two independent quantitative compartments of the same horizontal height and chutes matching the quantitative compartments are provided. Below the chutes is a loading channel. The loading channel is equipped with an entrance gate and an exit gate, respectively. Multiple lidar units are installed along the loading channel to track the rear of the vehicle, track the front rail of the vehicle, identify the vehicle and the front of the vehicle, and measure the height of the side rails, the width of the vehicle, and the height of the floor of the vehicle.

2. The loading station according to claim 1, characterized in that, The quantity of the quantitative bins is two, and the two quantitative bins are at the same horizontal height and are arranged sequentially along the loading channel.

3. The loading station according to claim 2, characterized in that, The chute in question is a telescopic chute.

4. The loading station according to claim 3, characterized in that, The laser radar is installed at the outlet of the chute and above the loading channel, arranged in one or two rows along the loading channel.

5. A method for designing a multi-port dispatching fast balancing loading station based on laser point cloud vision, as described in claim 4, characterized in that, The steps of the method are as follows: Step 1, Real-world analysis of loading applications: Analyze various commonly used trucks, classify the length of the truck bed according to the load capacity, size, and volume of the truck bed, and prepare for determining the overall structure of the loading station; To cope with the existing truck bed lengths, divide the bed length into two types: long bed and short model, design at least two independent quantitative bins and their chutes that can simultaneously dispense and weigh materials, forming the basic structure of the loading station, and through the analysis of these basic structures, determine the loading process as two-piles loading or three-piles loading, that is: two-piles loading involves unloading materials at the front and rear of the truck bed using different chutes to form two material piles at the front and rear, and three-piles loading involves unloading materials at the front and rear of the truck bed using different chutes, and then unloading a third pile in the middle of the truck bed to form balanced loading; Step 2, Determining the number and location of chutes: Based on the analysis of the loading trucks, determine the number of chutes at the loading station and the corresponding quantitative bins, and determine the loading plan based on the number of chutes. Step 3, deploy lidar: Set up two barriers in the loading lane. Use the entrance barrier to allow trucks to enter, and use the exit barrier to block trucks and restrict their parking area. Multiple lidar sensors are deployed at different locations in the loading lane to track the rear of the vehicle, track the front sill, identify the cargo box / front of the vehicle, and measure the height of the side sills, the width of the cargo box, and the height of the cargo box floor. The method and process for measuring the three-dimensional data of the carriage are as follows: A. Establish a spatial coordinate system with the center line of the ground passage for truck travel as the x-axis, the point on which the entrance gate is projected onto the x-axis as the spatial coordinate 0 point, the line connecting the entrance gate and coordinate 0 point as the y-axis, and the line perpendicular to the ground and upward from coordinate 0 point as the z-axis. B. Point cloud denoising: Remove discontinuous point clouds, such as laser points that jump around in 3D data, and sporadic outliers; C. Valid point selection: Based on the general dimensions of the carriage and the distance measured on site; The x-axis positioning is based on the range of the truck bed to be scanned along the x-axis of the loading channel; the y-axis positioning is based on meeting the maximum width requirement of the truck bed. Since the truck moves in a straight line during loading, ±1.8 in the y-axis direction can cover the range of the truck bed in the y-axis direction; the z-axis positioning is based on covering the area from the truck floor to the highest point of the truck. D. Eigenvalue matching: D1 Rear vehicle point cloud matching: Search for - N1 laser points in the point cloud of the rear vehicle tracking radar. The difference in x values between any two of them is less than 0.05, and there are no other valid points screened as in item C between these N laser points and the coordinate 0 point. If the number of point clouds is greater than N1, it is identified as the rear vehicle point cloud, and then the subsequent point cloud matching is performed; D2 Front vehicle point cloud matching: Search for multiple laser points in the point cloud sent by the lidar above the loading channel after being screened by item C. The quantity threshold is N2, and their z values satisfy 3.5 < z < 3.

9. If the quantity is greater than N2 (quantity threshold), then this batch of point clouds is the point clouds falling on the front of the vehicle; When the front vehicle point cloud is identified, if the x values of this piece of point cloud are all greater than the x value of the front chute in three-dimensional space, it means the front of the vehicle has crossed the front chute, and then the subsequent point cloud matching is performed; D3 Front vehicle side board point cloud matching: Search in the point cloud sent by the lidar above the loading channel after being screened by item C, and in the front vehicle point cloud found as in D3, search for multiple laser points with x < (x1 - 1.0) in the negative x-axis direction. The quantity threshold is N3, and their z values satisfy 1.7 < z < 3.0, and the difference in x values between every two laser points is less than 0.

05. If the number of point clouds is greater than N3, it is identified as the front vehicle side board point cloud, and then the subsequent point cloud matching is performed; D4 Truck bed point cloud matching: Search for multiple laser points in the point cloud sent by the lidar above the loading channel after being screened by item C. The quantity threshold is N4, and their z values satisfy 1.2 < z < 1.7, and their x values are between the rear side board point cloud and the front side board point cloud of the truck bed in the x-axis direction. If the number of point clouds is greater than N4, it is identified as the truck bed point cloud, and then the subsequent point cloud matching is performed; D5 Side board point cloud matching: Search for multiple laser points in the point cloud sent by the lidar above the loading channel after being screened by item C. Their x values are between the rear side board point cloud and the front side board point cloud of the truck bed in the x-axis direction. Find the point with the largest z value in the z-axis direction, and its z value is the height of the truck side board. Find the points with the largest and smallest y values in the positive and negative y-axis directions respectively, and the difference in their y values is the width of the truck bed; E. Target value extraction: According to item D, find the value of the measurement target in the points after feature value matching; Step 4, Calculate the volume of the truck bed and determine the loading conditions: The three-dimensional dimensions of the truck body are obtained from LiDAR scanning. Let the standard load capacity of the truck be G. n The bulk density of the material is ρ, the angle of repose of the material is α, and the length of the carriage as scanned by the lidar is L. n The height H of the side rails of the carriage n Width W n ,get: G n =L n *(H n +0.1)*W n *r Loading is only allowed when the volume of the truck bed is greater than the volume of the material to be loaded: Step 5, Determine the loading segments: According to the formula: Judge whether to load the current truck bed with two piles or three piles of materials according to the relationship between the material volume characterized and the three-dimensional dimensions of the truck bed. If the above relationship is satisfied, load with three piles of materials, otherwise load with two piles of materials; Step 6, Segment loading: Regardless of whether loading is with two piles or three piles of materials, chute 1 scrapes and loads materials close to the front side board position of the truck bed, and chute 2 according to the formula: Chinese x G Material is scraped and loaded at the coordinate location; If loading with two piles of materials, the dosing G1 of dosing bin 1 and the dosing G2 of dosing bin 2 are respectively dosed at half of the standard load; If loading with three piles of materials, the first dosing G3 of dosing bin 1 and the dosing G4 of dosing bin 2 are respectively according to the formula: G3=G n / 2-G t / 2=0.75*G n −0.25*L n *(H n +0.1)*W n *ρ And the formula: G4=G3=G n / 2-G t / 2=0.75*G n -0.25*L n *(H n +0.1)*W n *ρ For dosing; After dosing bin 1 completes the first discharge, according to the formula: G t =(L n *(H n +0.1)*W n *p-G n ) / 2 The second batching of ingredients is started in the quantitative silo 1. t When the middle position of the carriage is aligned with the leading edge of the lower opening of chute 1, the second feeding of material from quantitative bin 1 is initiated.

6. The design method according to claim 5, characterized in that, The segmented loading process of step 6 includes the following steps: Loading with two piles: Sub-step 1.1: Dispense materials into each of the two quantitative bins at half the standard load capacity; Sub-step 1.2: Instruct the truck to be loaded to move forward until the front of the truck bed is aligned with the chute 1 and then stop; Sub-step 1.3: The chute 1 extends to the upper edge of the car body and begins to unload and load materials; Sub-step 1.4: When the material pile in the truck reaches the top edge of the truck, direct the truck to move forward slowly; Sub-step 1.5: When the carriage reaches position x of chute 2 G : When in position, direct the truck to stop, extend the chute 2 to the top edge of the truck bed, release material from the metering bin 2 and scrape the material to load the truck, and when the material pile in the truck bed reaches the top edge of the truck bed, direct the truck to move forward slowly; Sub-step 1.6: When the rear slab of the vehicle passes over chute 1, the chute is lifted, and the loading is completed; Three piles loaded onto the truck: Sub-step 2.1: The first batching G3 in quantitative bin 1 and the batching G4 in quantitative bin 2 are respectively carried out according to the formula: G3=G n / 2-G t / 2=0.75*G n −0.25*L n *(H n +0.1)*W n *ρ and the formula: G4=G3=G n / 2-G t / 2=0.75*G n -0.25*L n *(H n +0.1)*W n *ρ Prepare the ingredients; Sub-step 2.2: Instruct the truck to be loaded to move forward until the front of the truck bed is aligned with the chute 1 and then stop; Sub-step 2.3: The chute 1 extends to the upper edge of the car body and begins to unload and load materials; Sub-step 2.4: When the material pile in the truck reaches the top edge of the truck, direct the truck to move forward slowly; Sub-step 2.5: When the carriage reaches the position of chute 2: When in position, chute 2 extends to the upper edge of the car body, metering bin 2 discharges material and scrapes the material for loading; Sub-step 2.6: When the material pile in the truck reaches the top edge of the truck, direct the truck to move forward slowly; Sub-step 2.7: When the first unloading of quantitative silo 1 is completed, the second batching is started. The second batching of quantitative silo 1 is carried out according to the following formula: G t =(L n *(H n +0.1)*W n *p-G n ) / 2; Sub-step 2.8: When the middle position of the truck bed is aligned with the front edge of the lower opening of the chute 1, instruct the truck to stop and start the second discharge of the quantitative bin 1. When the height of the material pile in the truck bed reaches the upper edge of the truck bed, instruct the truck to move forward slowly until the quantitative bin 1 is emptied. Sub-step 2.9: When the rear sill of the car passes chute 1, the system controls the chute to lift, and the loading is completed.

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