Bulk grain identification device for a crane grab

Abstract

This invention discloses a bulk grain identification device for a crane grab bucket. The device includes a crane grab bucket mechanism, a grain identification mechanism inside the bucket, and a grain identification mechanism in the hold. During operation, the crane grab bucket mechanism moves to the target position. The grain identification mechanism in the hold uses a servo-driven electric telescopic rod to drive a steel support, causing multiple lidar sensors to move and emit laser beams to acquire grain height information, providing a basis for grab bucket trajectory planning. When the grab bucket grasps grain, the grain identification mechanism inside the bucket uses multiple servo motors to collaboratively drive a spherical camera to rotate in multiple directions, capturing the grain status inside the grab bucket from all angles. During lifting, the grain identification mechanism in the hold continuously monitors the remaining grain height, while the grain identification mechanism inside the bucket prevents grain spillage. During unloading, the grain identification mechanism inside the bucket monitors the unloading process to ensure no residue remains. This device enables continuous grasping and accurate identification of bulk grain, improving operational efficiency and accuracy.

Description

Technical Field

[0001] This invention relates to the field of crane grab auxiliary equipment technology, specifically to a bulk grain identification device for crane grabs. Background Technology

[0002] In traditional bulk grain loading and unloading operations, the method of cranes grabbing grain is relatively crude. Previously, when crane grabs grain in the hold, there was a lack of precise means to sense the distribution of grain within the hold. Operators often had to rely on experience to roughly judge the position and height of the grain, leading to frequent grabbing position deviations during the grab's descent. This resulted in either insufficient grain being grabbed, requiring multiple adjustments and re-grabbing, wasting significant time and energy, or the grab colliding with the hold walls or other obstacles, damaging the equipment and affecting operational safety and efficiency. Furthermore, there was a lack of effective monitoring of the actual state of the grain within the grab during the grabbing, lifting, and unloading phases. It was impossible to accurately know whether the grab had grabbed the appropriate amount of grain, and abnormalities such as grain spillage could not be detected in time during lifting. Unloading was even more difficult, often resulting in residue, which not only wasted grain but also increased subsequent cleanup work, reducing the overall quality and economic efficiency of the operation. Therefore, it is essential to develop a technical solution that can accurately sense the distribution of grain in the hold and effectively monitor the state of the grain within the grab. Summary of the Invention

[0003] To address the shortcomings of the aforementioned background technology, a technical solution is provided for a bulk grain identification device for a crane grab bucket. This solution includes a crane grab bucket mechanism, with an in-bucket grain identification mechanism and a hold grain identification mechanism located in the middle of the inner cavity of the crane grab bucket mechanism. The crane grab bucket mechanism includes an upper support beam, four support rods movably hinged to the left and right sides of the bottom of the upper support beam, and two grab bucket sections movably hinged to the bottom ends of the support rods. A lower support beam is provided at the top of each grab bucket section, and a carriage assembly is fixedly connected to the upper surface of the lower support beam. The front and rear ends of the lower support beam are respectively hinged to the top of the grab bucket section.

[0004] The grain identification mechanism in the hopper includes a base, an L-shaped support frame rotatably connected to the bottom of the base, and a U-shaped bracket rotatably connected to the front end of the L-shaped support frame, and a spherical camera is rotatably installed inside the U-shaped bracket.

[0005] The grain identification mechanism in the ship's hold includes a servo-electric telescopic rod, a steel bracket fixed on the telescopic shaft of the servo-electric telescopic rod, and 6-8 lidars fixed in a ring array around the outer ring of the steel bracket. The grain identification mechanism in the ship's hold also includes an ultra-clear glass cover that covers the lidars, and a telescopic skin fixedly connected to the top end face of the ultra-clear glass cover.

[0006] In the above technical solution, preferably: a hanger that connects to the crane is fixedly connected to the top surface of the upper support beam, and multiple reinforcing support rods are fixedly connected to each other close to each other in the front and rear of the support rod.

[0007] In the above technical solution, preferably: the top ends of the grab buckets overlap each other and are stacked inside and out, and the front and rear ends of the lower support beam are fixedly connected with rotating shafts that pass through the overlapping area of ​​the grab buckets.

[0008] In the above technical solution, preferably, a rectangular support plate is fixedly connected to the bottom surface of the lower bearing beam.

[0009] In the above technical solution, preferably: the four corners of the upper surface of the base are fixed to the front side of the lower surface of the rectangular support plate by screws, and a servo motor is connected between the bottom surface of the base and the upper surface of the L-shaped support frame to drive the L-shaped support frame to perform circumferential motion along the axis of the base.

[0010] In the above technical solution, preferably, a servo motor is installed at the connection position between the L-shaped support frame and the U-shaped bracket to drive the U-shaped bracket to rotate axially.

[0011] In the above technical solution, preferably: a servo motor is installed at the connection position between the spherical camera and the U-shaped bracket to drive the spherical camera to swing up and down, and the spherical camera is used to monitor the grain condition inside the grab bucket.

[0012] In the above technical solution, preferably: the end face of the servo electric telescopic rod away from the steel bracket and the upper surface of the telescopic skin are both fixedly connected to the bottom surface of the rectangular support plate.

[0013] In the above technical solution, preferably, multiple connecting rods are fixedly connected between the inner sidewall of the ultra-white glass cover and the outer surface of the steel bracket, and the ultra-white glass cover is used to cover the lidar to prevent grain dust from damaging the lidar.

[0014] In the above technical solution, preferably: the detection end of the lidar faces outward to monitor the height of grain in the cargo hold, thereby controlling the movement trajectory of the crane grab mechanism in the cargo hold, and the surface of the telescopic skin has pleats that allow for air-assisted vertical expansion and contraction.

[0015] As can be seen from the above technical solution, the bulk grain identification device for crane grab buckets provided by the present invention has the following beneficial effects compared with the prior art:

[0016] In the ship's hold grain identification mechanism, a servo-electric telescopic rod drives a steel support, allowing multiple lidar sensors to move flexibly. This enables comprehensive acquisition of grain height distribution information within the ship's hold, providing precise movement trajectories for the crane's grab mechanism. This avoids blind grabbing, improves grabbing efficiency and accuracy, and reduces operation time and energy consumption. The grain identification mechanism inside the grab uses multiple servo motors to collaboratively drive a spherical camera to rotate in multiple directions, capturing the grain status within the grab from all angles. Operators can use this information to determine the grabbing amount and adjust the grabbing action accordingly, ensuring the appropriate grabbing amount each time. During lifting, the ship's hold grain identification mechanism continuously monitors the remaining grain, while the inside-the-bucket grain identification mechanism prevents grain spillage. During unloading, monitoring the unloading process ensures no residue remains, achieving continuous and efficient grabbing and identification of bulk grain, thus improving overall operational quality. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the accompanying drawings used in the description of the embodiments of the present invention or the prior art will be briefly introduced and explained below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 A schematic diagram of a crane grab bucket and a bulk grain identification system;

[0019] Figure 2 This is a schematic diagram of the crane grab bucket.

[0020] Figure 3 This is a schematic diagram of the lower support beam in the grab bucket;

[0021] Figure 4 A schematic diagram of the grain identification mechanism inside the hopper;

[0022] Figure 5 This is a schematic diagram of the grain identification mechanism in the ship's hold.

[0023] Appendix Figure 1 -Appendix Figure 5 The correspondence between the components is as follows:

[0024] 1. Crane grab mechanism; 1-1. Upper support beam; 1-2. Hanger; 1-3. Slide assembly; 1-4. Lower support beam; 1-5. Support rod; 1-6. Grab bucket section; 2. Grain identification mechanism inside the bucket; 2-1. Spherical camera; 2-2. U-shaped bracket; 2-3. L-shaped support frame; 2-4. Base; 3. Grain identification mechanism in the ship's hold; 3-1. Servo electric telescopic rod; 3-2. Steel bracket; 3-3. Ultra-clear glass cover; 3-4. LiDAR; 3-5. Telescopic skin; 4. Rectangular support plate. Detailed Implementation

[0025] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the embodiments described below are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention. In order to provide a clearer explanation and description of the technical solutions and implementation methods of the present invention, the following describes specific embodiments that implement the preferred technical solutions of the present invention.

[0026] An embodiment of a bulk grain identification device for a crane grab bucket: The crane grab bucket mechanism 1 includes an upper support beam 1-1, with a hanger 1-2 fixedly connected to the top of the upper support beam 1-1 for docking with the crane. Four support rods 1-5 are movably hinged to the left and right sides of the bottom of the upper support beam 1-1, with two support rods 1-5 on each side symmetrically distributed front and back. Multiple reinforcing support rods are fixedly connected between the front and back sides of the support rods 1-5 to enhance structural stability. The bottom ends of the support rods 1-5 are movably hinged to the grab bucket part 1-6 to form a two-lobed grab bucket structure. The top ends of the grab bucket parts 1-6 overlap and are stacked inside and out. The front and rear ends of the lower support beam 1-4 are fixedly connected to a rotating shaft passing through the overlapping area of ​​the grab bucket parts 1-6 to achieve hinged connection. A slide assembly 1-3 is fixedly connected to the upper surface of the lower support beam 1-4. The slide assembly 1-3 includes multiple pulley assemblies for cooperating with the crane slide rail to achieve lifting and lowering movement. A rectangular support plate 4 is fixedly connected to the bottom surface of the lower support beam 1-4, which serves as the mounting base for each identification mechanism.

[0027] The grain identification mechanism 2 is located on the front side of the lower surface of the rectangular support plate 4. The four corners of the upper surface of the base 2-4 are fixed to the lower surface of the rectangular support plate 4 with screws. A servo motor is connected between the bottom of the base 2-4 and the upper surface of the L-shaped support frame 2-3. The output shaft of this servo motor is fixedly connected to the upper surface of the L-shaped support frame 2-3, driving the L-shaped support frame 2-3 to move in a circular motion along the axis of the base 2-4. The front end of the L-shaped support frame 2-3 is rotatably connected to the back of the U-shaped bracket 2-2. A servo motor is installed at the connection point, and its output shaft is fixedly connected to the back of the U-shaped bracket 2-2, driving the U-shaped bracket 2-2 to rotate axially. A spherical camera 2-1 is rotatably installed inside the U-shaped bracket 2-2, and a servo motor is installed at the connection point. The output shaft of this servo motor is fixedly connected to the outer wall of the spherical camera 2-1, driving the spherical camera 2-1 to swing up and down. The spherical camera 2-1 collects image information of the grain inside the grab bucket 1-6 through its lens, thus enabling grain identification in the ship's hold. Mechanism 3 is located at the bottom of rectangular support plate 4. The end face of the servo electric telescopic rod 3-1 is fixedly connected to the bottom surface of the rectangular support plate 4. The end face of the telescopic shaft of the servo electric telescopic rod 3-1 is fixedly connected to steel bracket 3-2. 6-8 lidars 3-4 are fixed in a ring array around the outer ring of steel bracket 3-2. The detection ends of lidars 3-4 face outwards and are used to monitor the height of grain in the cargo hold. Ultra-white glass cover 3-3 is placed outside lidars 3-4. Multiple connecting rods are fixedly connected between the inner side wall of ultra-white glass cover 3-3 and the outer surface of steel bracket 3-2 to achieve positioning and fixation. The top end face of ultra-white glass cover 3-3 is fixedly connected to the lower surface of telescopic skin 3-5. The upper surface of telescopic skin 3-5 is fixedly connected to the bottom surface of rectangular support plate 4. The surface of telescopic skin 3-5 has a pleated structure for air supply and vertical extension to adapt to the telescopic movement of servo electric telescopic rod 3-1. When the crane grab mechanism 1 is working, the grab part 1-6 opens and closes under the drive of support rod 1-5.

[0028] The grain identification mechanism 2 inside the hopper is fixed to the lower surface of the rectangular support plate 4 via the base 2-4. The L-shaped support frame 2-3 moves in a circular motion driven by a servo motor, adjusting the horizontal position of the U-shaped bracket 2-2. The U-shaped bracket 2-2 rotates axially driven by a servo motor, adjusting the horizontal orientation of the spherical camera 2-1. The spherical camera 2-1 swings up and down driven by a servo motor, adjusting the lens tilt angle to achieve image acquisition of grain in different areas inside the grab bucket 1-6. The grain identification mechanism 3 in the cabin adjusts the position of the steel bracket 3-2 through the telescopic movement of the servo electric telescopic rod 3-1. The lidar 3-4 moves with the steel bracket 3-2 and keeps its detection end facing outward. It measures the surface height of grain in the cargo hold by emitting a laser beam and receiving reflected signals. The ultra-white glass cover 3-3 is placed outside the lidar 3-4 to prevent grain dust from directly contacting the surface of the lidar 3-4, while keeping the transmission of the laser beam unaffected. The telescopic skin 3-5 achieves telescopic deformation through its pleated structure when the servo electric telescopic rod 3-1 extends and retracts. It maintains a fixed connection with the rectangular support plate 4 and seals the connection area between the servo electric telescopic rod 3-1 and the steel bracket 3-2 to prevent dust from entering the mechanism.

[0029] The lower support beam 1-4 serves as the connecting component between the grab bucket 1-6 and the upper support beam 1-1. It is hinged to the top of the grab bucket 1-6 via a rotating shaft, enabling the opening and closing movement of the grab bucket 1-6. The slide assembly 1-3 is fixed to the upper surface of the lower support beam 1-4 and, through a pulley assembly and cooperation with the crane slide rail, enables the entire grab bucket mechanism to move up and down under the drive of the crane. The upper support beam 1-1 serves as the top connecting base of the support rod 1-5, and its rotation is achieved through a movable hinge structure. The hanger 1-2 is fixed to the top of the upper support beam 1-1, providing an interface for docking with the crane to achieve the hoisting of the entire device. The rectangular support plate 4 serves as the grain identification mechanism 2 inside the bucket and the grain in the hold. The mounting base of the object identification mechanism 3 is fixedly connected to the bottom surface of the lower support beam 1-4, realizing the integration of the two identification mechanisms and the grab bucket mechanism. The support rod 1-5 serves as the transmission component between the upper support beam 1-1 and the grab bucket part 1-6. It transmits force through a movable hinge structure, driving the opening and closing action of the grab bucket part 1-6. The reinforcing support rod is fixedly connected between the front and rear sides of the support rod 1-5, which are close to each other, to enhance the structural strength of the support rod 1-5 and prevent deformation during the operation of the grab bucket. The grab bucket part 1-6 is the component that directly contacts the grain. It opens and closes through the hinge between the top end and the lower support beam 1-4, and forms a closed grab bucket space at the bottom end for grabbing grain.

[0030] The spherical camera 2-1 achieves multi-angle image acquisition through the rotation setting of the U-shaped bracket 2-2 and its own swing function. The L-shaped support frame 2-3, through its rotational connection with the base 2-4 and the U-shaped bracket 2-2, achieves adjustment of its horizontal position and orientation. The base 2-4 is fixed to the lower surface of the rectangular support plate 4 with screws, providing the mounting base for the grain identification mechanism 2 in the hopper. The servo electric telescopic rod 3-1 serves as the power component of the grain identification mechanism 3 in the hopper. Through its telescopic movement, it adjusts the position of the steel bracket 3-2, thereby moving the lidar 3-4. The steel bracket 3-2 serves as the mounting base for the lidar 3-4, and is fixedly connected to the servo electric telescopic rod 3-1. The retractable shaft and fixed lidar 3-4 enable position adjustment and fixation of lidar 3-4. Lidar 3-4 achieves omnidirectional height monitoring through a ring array distribution. The ultra-white glass cover 3-3, placed outside the lidar 3-4, provides dust protection while maintaining laser transmission. The telescopic skin 3-5, with its pleated structure, allows for telescopic deformation, adapting to the movement of the servo-electric telescopic rod 3-1 and maintaining a seal. The hinges between the front and rear ends of the lower support beam 1-4 and the top of the grab bucket 1-6 are achieved through a rotating shaft. The rotating shaft passes through the overlapping area of ​​the grab bucket 1-6, enabling the rotation and opening of the grab bucket 1-6. The slide assembly 1-3 contains multiple pulley assemblies, which, in conjunction with the crane's slide rails, achieve lifting and lowering. The motion system is achieved by fixing the hanger 1-2 to the top of the upper support beam 1-1 to connect with the crane. The reinforcing support rod is fixedly connected to the front and rear sides of the support rod 1-5 to enhance structural stability. The rectangular support plate 4 is fixedly connected to the bottom surface of the lower support beam 1-4 to integrate with the grab mechanism. The base 2-4 is fixed to the lower surface of the rectangular support plate 4 with four corner screws on its upper surface. A servo motor drives circular motion by connecting the base 2-4 to the L-shaped support frame 2-3, drives axial rotation by connecting the L-shaped support frame 2-3 to the U-shaped bracket 2-2, and drives up-and-down swing by connecting the U-shaped bracket 2-2 to the spherical camera 2-1. A servo-driven electric telescopic rod 3-1 is also included. The device is fixed by connecting the end face of the housing to the bottom of the rectangular support plate 4. The servo electric telescopic rod 3-1 is fixed to the steel bracket 3-2 through the end face of the telescopic shaft to achieve transmission. The connecting rod is fixed to the inner side of the ultra-white glass cover 3-3 and the outer side of the steel bracket 3-2 through a fixed connection. The ultra-white glass cover 3-3 is fixed to the lower surface of the telescopic skin 3-5 through the top end face. The telescopic skin 3-5 is fixed to the bottom surface of the rectangular support plate 4 through the upper surface. The entire device, through the coordinated action of its components, realizes internal grain identification and grain height monitoring in the cargo hold during grain grabbing, providing real-time identification data support for bulk grain for crane grabbing operations.

[0031] Based on the above-described preferred technical solution, the workflow of this technical solution is explained as follows: When the crane starts operation, the crane moves the entire crane grab mechanism 1 to the target position via the gantry 1-2. As the grab descends and approaches the grain, the grain identification mechanism 3 in the ship's hold starts working. The servo electric telescopic rod 3-1 extends and retracts according to a preset program or operator instructions, driving the steel support 3-2 to move up and down. The 6-8 lidars 3-4 on the steel support 3-2 move synchronously. The detection heads of the lidars 3-4 continuously emit laser beams outward. When the laser beams encounter the surface of the grain in the ship's hold, they are reflected back. The lidars 3-4 receive the reflected signals and calculate the round-trip time to determine the height information of the grain. This height information is transmitted to the data processing system in real time. The data processing system analyzes the data received from multiple lidars 3-4 to determine the overall height distribution of the grain in the ship's hold. Based on this information, the control system plans the movement trajectory of the crane grab mechanism 1 in the ship's hold and guides the grab to accurately descend to the appropriate position to grab the grain.

[0032] During the process of the grab bucket closing and grabbing grain, the grain identification mechanism 2 inside the bucket begins to function. The servo motor connected to the base 2-4 drives the L-shaped support frame 2-3 to move in a circular motion along the axis of the base 2-4, adjusting the angle of the L-shaped support frame 2-3. The servo motor at the connection between the L-shaped support frame 2-3 and the U-shaped bracket 2-2 drives the U-shaped bracket 2-2 to rotate axially, further adjusting the direction of the U-shaped bracket 2-2. The servo motor at the connection between the U-shaped bracket 2-2 and the spherical camera 2-1 drives the spherical camera 2-1 to swing up and down. Through the coordinated operation of these three servo motors, the spherical camera 2-1 can rotate flexibly in multiple directions, capturing the state information of the grain inside the grab bucket 1-6 from all angles. The spherical camera 2-1 transmits the captured grain image information to the data processing system. The data processing system analyzes and processes the image, identifying key information such as the accumulation state and quantity of the grain. Based on this information, the operator judges whether the grab bucket has grabbed a sufficient amount of grain. If the requirements are not met, the grab bucket can be controlled to adjust the grabbing action again. Once the grab bucket has collected a suitable amount of grain, the crane lifts the grab bucket mechanism 1 via the jack 1-2. During the lifting process, the lidar 3-4 of the grain identification mechanism 3 continuously monitors the height of the remaining grain in the cargo hold, providing a reference for subsequent grabbing operations. Simultaneously, the spherical camera 2-1 of the grain identification mechanism 2 continues to monitor the state of the grain in the grab bucket to prevent grain spillage during lifting. If any abnormality is detected, the operator can be notified in a timely manner to take appropriate measures. After the grab bucket is lifted to the target height and moved to the designated unloading position, the grab bucket 1-6 opens for unloading. During the unloading process, the spherical camera 2-1 of the grain identification mechanism 2 monitors the unloading of the grain to ensure complete unloading and avoid residue. After unloading is completed, the entire device awaits the next grabbing operation command and repeats the above workflow to achieve continuous bulk grain grabbing and identification operations.

[0033] This invention is not limited to the preferred embodiments described above. Anyone should understand that structural changes made under the guidance of this invention, and any technical solutions that are the same as or similar to this invention, fall within the protection scope of this invention. Finally, it should be noted that the structures, proportions, sizes, etc., illustrated in the accompanying drawings are only for illustrative purposes to aid those skilled in the art and are not intended to limit the implementation of this application. Therefore, they have no substantial technical significance. Any modifications to the structure, changes in proportions, or adjustments to size, without affecting the effects and objectives of this application, should still fall within the scope of the technical content disclosed in this application.

Claims

1. A bulk grain identification device for a crane grab bucket, comprising a crane grab bucket mechanism (1), characterized in that: The inner cavity of the crane grab bucket mechanism (1) is provided with a grain identification mechanism (2) inside the bucket and a grain identification mechanism (3) in the hold. The crane grab bucket mechanism (1) includes an upper support beam (1-1), four support rods (1-5) movably hinged to the left and right sides of the bottom of the upper support beam (1-1), and two grab bucket parts (1-6) movably hinged to the bottom of the support rods (1-5). A lower support beam (1-4) is provided on the top of the grab bucket part (1-6). A slide assembly (1-3) is fixedly connected to the upper surface of the lower support beam (1-4). The front and rear ends of the lower support beam (1-4) are respectively hinged to the top of the grab bucket part (1-6). The grain identification mechanism (2) in the hopper includes a base (2-4), an L-shaped support frame (2-3) rotatably connected to the bottom of the base (2-4), and a U-shaped bracket (2-2) rotatably connected to the front end of the L-shaped support frame (2-3), and a spherical camera (2-1) is rotatably installed inside the U-shaped bracket (2-2). The grain identification mechanism (3) in the ship's cabin includes a servo-electric telescopic rod (3-1), a steel bracket (3-2) fixed on the telescopic shaft of the servo-electric telescopic rod (3-1), and 6-8 lidars (3-4) fixed in a ring array around the outer ring of the steel bracket (3-2). The grain identification mechanism (3) in the ship's cabin also includes an ultra-white glass cover (3-3) covering the lidars (3-4), and a telescopic skin (3-5) fixedly connected to the top end face of the ultra-white glass cover (3-3).

2. The bulk grain identification device for a crane grab bucket according to claim 1, characterized in that: The top surface of the upper beam (1-1) is fixedly connected to a hanger (1-2) that is connected to the crane, and multiple reinforcing support rods are fixedly connected to each other in the front and back of the strut (1-5).

3. The bulk grain identification device for a crane grab bucket according to claim 1, characterized in that: The top ends of the grab buckets (1-6) overlap and are stacked inside and out. The front and rear ends of the lower support beam (1-4) are fixedly connected with rotating shafts that pass through the overlapping area of ​​the grab buckets (1-6).

4. A bulk grain identification device for a crane grab bucket according to claim 1, characterized in that: A rectangular support plate (4) is fixedly connected to the bottom surface of the lower bearing beam (1-4).

5. A bulk grain identification device for a crane grab bucket according to claim 1, characterized in that: The four corners of the upper surface of the base (2-4) are fixed to the front side of the lower surface of the rectangular support plate (4) by screws. A servo motor is connected between the bottom surface of the base (2-4) and the upper surface of the L-shaped support frame (2-3) to drive the L-shaped support frame (2-3) to move in a circular motion along the axis of the base (2-4).

6. A bulk grain identification device for a crane grab bucket according to claim 1, characterized in that: A servo motor is installed at the connection position between the L-shaped support frame (2-3) and the U-shaped bracket (2-2) to drive the U-shaped bracket (2-2) to rotate axially.

7. A bulk grain identification device for a crane grab bucket according to claim 1, characterized in that: A servo motor is installed at the connection position between the spherical camera (2-1) and the U-shaped bracket (2-2) to drive the spherical camera (2-1) to swing up and down, and the spherical camera (2-1) is used to monitor the grain condition inside the grab bucket (1-6).

8. A bulk grain identification device for a crane grab bucket according to claim 1, characterized in that: The end face of the servo-electric telescopic rod (3-1) away from the steel bracket (3-2) and the upper surface of the telescopic skin (3-5) are fixedly connected to the bottom surface of the rectangular support plate (4).

9. A bulk grain identification device for a crane grab bucket according to claim 1, characterized in that: Multiple connecting rods are fixedly connected between the inner sidewall of the ultra-white glass cover (3-3) and the outer surface of the steel bracket (3-2). The ultra-white glass cover (3-3) is used to cover the lidar (3-4) to prevent grain dust from damaging the lidar (3-4).

10. A bulk grain identification device for a crane grab bucket according to claim 1, characterized in that: The detection end of the lidar (3-4) is outward to monitor the height of grain in the cargo hold, thereby controlling the movement trajectory of the crane grab mechanism (1) in the cargo hold. The surface of the telescopic skin (3-5) has pleats that allow air to extend and retract.

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