An integrated self-propelled intelligent environmentally friendly hopper and its control method

Abstract

This invention discloses an integrated self-propelled intelligent environmentally friendly hopper and its control method, including a hopper body, a support frame, a self-propelled mechanism, a liftable support mechanism, an imaging detection device, a spray dust suppression component, a rotary scraper unblocking mechanism, a discharge mechanism, a first vibration device, a second vibration device, an audible and visual prompting component, and a controller. The imaging detection device includes detection units corresponding to the front and rear sides of the vehicle to be loaded. During loading, the current material level in the discharge area is detected. Once the preset material level is reached, the discharge mechanism is closed and the vehicle is prompted to move forward, allowing the subsequent loading areas to enter the discharge position. Loading ends when the end area reaches the preset material level and the rear baffle of the vehicle reaches the preset termination position. The controller also selects a combination control mode for the rotary scraper, vibration device, and material gate opening according to the material type. This invention can realize self-transfer of the hopper, intelligent loading, classified unblocking, spray dust suppression, and safety interlocking.

Description

Technical Field

[0001] This invention relates to the field of bulk material loading and unloading equipment technology, specifically to an integrated self-propelled intelligent environmentally friendly hopper and its control method. Background Technology

[0002] Bulk materials are typically unloaded from grab buckets into hoppers at ports and docks, and then loaded onto transport vehicles from the hoppers. Most existing hoppers are fixed, and some mobile hoppers still require forklifts or traction equipment for relocation, making equipment repositioning inconvenient. When loading vehicles, the position of the cargo box and the discharge port relies mainly on manual judgment, which can easily lead to parking errors and material spillage. Grab bucket unloading also easily generates dust. Existing spraying devices mostly use manual start / stop or simple control methods, which are insufficiently adaptable to the spraying needs of different materials. For viscous materials, problems such as material sticking and bridging may occur, affecting the discharge process. The movement, detection, dust suppression, and unblocking functions of existing equipment are usually independent, lacking overall coordination.

[0003] Therefore, there is an urgent need for an integrated environmentally friendly hopper that can move around on its own, detect the position and loading status of the vehicle's cargo box, and simultaneously handle dust suppression spraying, assisted unloading of viscous materials, and safety control during loading, in order to improve the coordination between equipment relocation, vehicle loading, material unloading, and dust suppression operations during the loading and unloading of bulk materials.

[0004] A search revealed a Chinese patent document disclosing an automatic bulk material loading system [Application No.: 202111068395.5, Publication No.: CN113620075B]. This system discloses a storage silo with multiple linearly arranged discharge ports equipped with discharge valves at its bottom; a track is mounted on a track support at the bottom of the silo; and the frame of a mobile bulk loading machine is driven by a motor and mounted on the track. A receiving hopper is fixed to the frame, and the length of the receiving hopper along the track direction is greater than the distance between any two adjacent discharge ports. A telescopic chute is sealed and fixed to the bottom of the receiving hopper, and the bottom of the telescopic chute is equipped with a valve switching mechanism and a scraper.

[0005] The aforementioned existing technology changes the material unloading position by moving the bulk loader along a fixed track, but its range of movement is limited by the track, and there are certain limitations in the transfer between different working positions. At the same time, there is still room for improvement in the continuous loading of the vehicle cargo box along the length direction, the auxiliary unloading of materials with different viscous properties, and the vehicle prompts and safety interlocks during the loading process. Summary of the Invention

[0006] To address the problems existing in the prior art, the purpose of this invention is to provide an integrated self-propelled intelligent environmentally friendly hopper and its control method.

[0007] An integrated self-propelled intelligent environmentally friendly hopper is characterized by: a support frame and a hopper body mounted thereon; the upper and lower parts of the hopper body are respectively provided with a feed inlet and a discharge outlet; the bottom of the support frame is provided with a self-propelled mechanism and a liftable support mechanism; the support frame is provided with an imaging detection device; a spray dust suppression component is provided at the feed inlet; a rotary scraper unblocking mechanism is provided at the material channel of the hopper body; a discharge mechanism is provided at the discharge outlet; and a first vibration device and a second vibration device are provided on the outside of the hopper body.

[0008] Preferably, the self-propelled mechanism includes four drive wheels, which are respectively connected to corresponding walking drive devices through transmission mechanisms, and two drive wheels are respectively connected to corresponding steering drive devices through steering mechanisms; the liftable support mechanism includes a support member and a support drive device, and the support member has a retracted position that is off the ground and a support position that is in contact with the ground.

[0009] The above technical solution enables the intelligent and environmentally friendly hopper to provide stable support during both self-transfer and loading operations. Each of the four drive wheels receives driving force, allowing the hopper to move under its own power, with two of the drive wheels also providing steering. The liftable support mechanism can switch between the retracted and supported positions according to the current operating status of the equipment.

[0010] Specifically, when the hopper needs to be moved, the support is in the retracted position and off the ground. The equipment is moved by four drive wheels, and the direction of travel is changed by two of the drive wheels. When the hopper reaches the loading position, the self-propelled mechanism stops, and the support drive device lowers the support until it contacts the ground, so that the equipment changes from a moving state to a stable supported state.

[0011] In practical applications, this structure enables the hopper to be moved according to changes in the working position, and the support components support the whole machine during the feeding of the grab bucket and loading of the vehicle, so that a clear structural transformation relationship is formed between the moving state and the loading state, which facilitates the movement and fixing of large hoppers between different working positions.

[0012] Preferably, the imaging detection device includes a first imaging detection unit and a second imaging detection unit. The first imaging detection unit is located on the front side of the vehicle to be loaded on the support bracket, and the second imaging detection unit is located on the rear side of the vehicle to be loaded on the support bracket. Both the first imaging detection unit and the second imaging detection unit are positioned facing the vehicle cargo box detection area below the discharge port.

[0013] The above technical solution enables the detection of the vehicle's cargo box area from different positions along the length of the vehicle to be loaded. Two imaging detection units are respectively set on the front and rear sides of the vehicle, ensuring that the vehicle's cargo box is within the corresponding detection area after entering below the unloading port, providing a basis for determining the vehicle's position and loading status.

[0014] Specifically, after the vehicle enters the loading area, the first and second imaging detection units can acquire information such as the boundaries of the vehicle's cargo box and the surface of the materials inside the cargo box. As the vehicle moves forward during the loading process, the two detection units can continue to acquire information about the positional changes of the vehicle's cargo box relative to the discharge port. The detection unit located at the rear of the vehicle can also acquire information about the position of the rear baffle.

[0015] In practical applications, this arrangement is adapted to the loading process of long and narrow vehicle cargo boxes. It can provide relevant information for the initial positioning of the vehicle, the determination of the current material level in the dropping area, the repositioning of the vehicle after moving forward, and the determination of the loading status at the end of the vehicle, so that the vehicle loading process can be carried out around the actual position and loading status of the cargo box.

[0016] Preferably, the spray dust suppression assembly includes multiple spray nozzles, a liquid supply pipeline, and a control valve. The multiple spray nozzles are spaced apart around the feed inlet and connected to a liquid supply device through the liquid supply pipeline. The control valve is located on the liquid supply pipeline.

[0017] The above technical solution can create a dust suppression spray zone around the hopper inlet. Multiple spray nozzles are arranged at intervals around the inlet, allowing atomized liquid to be sprayed from different positions toward the inlet area. The delivery status of the sprayed liquid is controlled by the liquid supply pipeline and control valve.

[0018] Specifically, the liquid supply device supplies liquid to multiple spray nozzles through a liquid supply pipeline, and the control valve is used to control the connection status of the liquid supply pipeline. After the spray assembly is turned on, multiple spray nozzles spray atomized liquid near the feed inlet, so that the dust generated by the falling material during the grab bucket unloading process can come into contact with the atomized liquid droplets, thereby suppressing dust in the feeding area.

[0019] In practical applications, the operating status of the spray dust suppression component can be selected based on the properties of the materials being loaded and unloaded. For materials suitable for dust suppression using water spraying, the spray can be activated during the feeding operation; for materials unsuitable for contact with water, the spray component can be kept closed, allowing the spray structure to adapt to the feeding operation requirements of different bulk materials.

[0020] Preferably, the rotary scraper unblocking mechanism includes an annular track arranged around the material channel of the hopper body, a scraper assembly arranged on the annular track, an unblocking drive device, and a transmission mechanism. The scraping part of the scraper assembly is arranged facing the inner wall of the material channel, and the unblocking drive device is connected to the scraper assembly through the transmission mechanism. The discharging mechanism includes a material gate and a material gate drive device connected to the material gate. The material gate has multiple opening positions.

[0021] The above technical solution integrates rotary scraping for unblocking with adjustable discharge opening in the hopper's material channel and discharge position. The scraper assembly can move around the material channel to scrape and agitate the material near the hopper's inner wall, while the material gate can change its opening degree according to the discharge status, structurally providing conditions for controlling the discharge of different materials.

[0022] Specifically, the unblocking drive device drives the scraper assembly to move along a circular track via a transmission mechanism. During the movement, the scraper acts on the vicinity of the inner wall of the material channel, loosening any adhering, accumulated, or bridging materials. The gate drive device can open, close, or change the opening degree of the gate, thereby altering the material flow state at the discharge port.

[0023] In practical applications, for materials with good flowability, the material's own weight and the opening of the hopper can be used for feeding. For materials that are prone to adhesion or bridging, the rotating scraper unblocking mechanism can be activated to mechanically disturb them, and the feeding state can be improved by changing the opening of the hopper, so that the hopper can adapt to bulk materials with different flow characteristics.

[0024] Preferably, it also includes an audio-visual prompting component and a controller. The audio-visual prompting component includes a red indicator light, a green indicator light, a voice prompting device, and a ringtone prompting device. The signal input terminal of the controller is connected to the imaging detection device and the remote control signal receiving device, and the control output terminal of the controller is connected to the self-propelled mechanism, the liftable support mechanism, the spray dust suppression component, the rotary scraper unblocking mechanism, the material feeding mechanism, the first vibration device, the second vibration device, and the audio-visual prompting component.

[0025] The above technical solution enables the vehicle detection components, hopper actuators, and driver prompting components to form a coordinated control relationship, allowing the controller to coordinate the operation states such as hopper transfer, support, material discharge, blockage clearing, vibration, and prompting.

[0026] Specifically, the controller can receive information from the imaging detection device and the remote control signal receiving device, and send control signals to different actuators according to the current working status. The red indicator light, green indicator light, voice prompt device, and bell prompt device in the audio-visual prompt component can provide the vehicle driver with different working status information, enabling the driver to stop, move, or drive away according to the current loading stage.

[0027] In practical applications, this control connection can link the hopper's own operating status with the vehicle driver's operations. For example, it can output a corresponding parking prompt during the vehicle's parking and loading phase, output a vehicle movement prompt when the loading position needs to be adjusted, and output a departure prompt after the entire vehicle is loaded, thus facilitating the driver's coordination with the continuous loading process of the hopper.

[0028] This invention also provides a control method for an integrated self-propelled intelligent environmentally friendly hopper, comprising the following steps: S1. Control the self-propelled mechanism to move the intelligent environmental protection hopper to the loading operation position through remote control, stop the self-propelled mechanism, and put the liftable support mechanism in the support position. S2. The imaging detection device detects the position of the cargo box of the vehicle to be loaded relative to the unloading port. When the cargo box of the vehicle enters the preset initial loading position, the device outputs a loading start prompt and starts the unloading mechanism. S3. The material level in the current material feeding area corresponding to the feeding port is detected by the imaging detection device. When the material level is lower than the preset loading level, feeding continues. When the material level reaches the preset loading level, the feeding mechanism is closed. S4. Determine whether there is a subsequent loading area along the length of the vehicle's cargo box. If there is a subsequent loading area, output a vehicle movement prompt and keep the unloading mechanism closed. During the forward movement of the vehicle, detect the position of the subsequent loading area relative to the unloading port through the imaging detection device. S5. When the subsequent waiting area enters the loading position corresponding to the unloading port and the vehicle stops again, the unloading mechanism is restarted and the process returns to step S3. S6. When the loading area corresponding to the end of the vehicle reaches the preset loading level, and the imaging detection device detects that the rear baffle of the vehicle has reached the preset termination position relative to the discharge port, the discharge mechanism is closed, and the loading of the vehicle is confirmed to be completed.

[0029] Preferably, when loading begins, the red indicator light goes into alert mode, and a voice prompt device outputs a message indicating the start of loading; after the current material dropping area reaches the preset loading level, the feeding mechanism is closed, the green indicator light goes into alert mode, and a voice prompt device outputs a message indicating vehicle movement; the feeding mechanism remains closed during vehicle movement; if vehicle movement is detected while the feeding state is not outputting a vehicle movement prompt, the feeding mechanism is closed; after loading is completed, the green indicator light goes into alert mode, an end bell is output via a ringtone device, and a voice prompt device outputs a message indicating vehicle departure.

[0030] The above technical solution can be used to distinguish the operation statuses such as the start of loading, vehicle forward movement, and completion of loading by different combinations of lights, voice and bells, and the ability of the vehicle to move is coordinated with the current open and closed state of the unloading mechanism.

[0031] Specifically, when loading begins, a red indicator light and a voice prompt indicating the start of loading will prompt the driver to keep the vehicle stationary. After the current material unloading area is fully loaded, the unloading mechanism will be shut off first, and then a green indicator light and a voice prompt indicating vehicle movement will prompt the driver to move the vehicle forward. Once the entire vehicle is loaded, a green indicator light, an end bell, and a voice prompt indicating vehicle departure will all indicate the end of the loading process.

[0032] In practical applications, drivers can determine whether to remain stationary, move forward a short distance, or drive directly away from the loading area based on the status prompts. Simultaneously, if the vehicle changes position during normal material unloading without receiving a movement prompt, the unloading mechanism can stop unloading, thus reducing the likelihood of unloading position deviation caused by simultaneous vehicle movement and continuous material dropping.

[0033] Preferably, the material type information of the current working material is obtained, and the corresponding feeding control method is selected according to the material type; for non-sticky materials, the rotary scraper unblocking mechanism, the first vibration device and the second vibration device are kept stopped; for ordinary sticky materials, the rotary scraper unblocking mechanism is started after the feeding mechanism is opened, and the first vibration device and the second vibration device work alternately after a first set time; for highly sticky materials, the material gate of the feeding mechanism is opened at a first opening degree and the rotary scraper unblocking mechanism is started, and the first vibration device and the second vibration device work synchronously after a second set time. When the material is continuously detected to be in a material state, the material gate is increased to a second opening degree greater than the first opening degree, and the material gate is restored to the first opening degree after a preset change in the material level is detected.

[0034] The above technical solution allows for the selection of different feeding and unblocking methods based on the material's flowability and viscosity, ensuring that the rotary scraper unblocking mechanism, the two vibration devices, and the material gate opening work together to avoid using the same auxiliary feeding method for different materials.

[0035] Specifically, for non-sticky materials, the material is fed mainly by its own gravity, while the rotating scraper and two vibrating devices remain stationary; for ordinary sticky materials, the material is scraped by the rotating scraper, and the two vibrating devices work alternately to assist in feeding; for highly sticky materials, the two vibrating devices work synchronously, and the opening of the feed gate is increased when there is continuous material to enhance the material's falling conditions.

[0036] In practical applications, this control method allows the degree of assisted feeding to be matched with the actual flow characteristics of the material. For materials with good flowability, the involvement of the unblocking and vibration mechanisms is reduced; for ordinary viscous materials, scraping and alternating vibration are used in combination; and for highly viscous materials, synchronous vibration and gate opening adjustment are further combined to adapt to the feeding state of different bulk materials.

[0037] Compared with the prior art, the present invention has the following advantages: 1. This invention integrates self-propelled movement, stable support, vehicle position detection, material level detection, and audible and visual prompts into a single hopper device. During loading, the material release can be controlled based on changes in the material level in the current dropping area, and the vehicle will be prompted to move forward once a set state is reached in a localized area, allowing subsequent loading areas to continue entering the release position. Simultaneously, the loading progress is judged by the position of the vehicle's rear baffle, which helps reduce uneven loading and spillage caused by relying solely on driver experience to adjust vehicle position.

[0038] 2. This invention employs differentiated feeding and unblocking methods tailored to the flow characteristics of different materials, integrating a rotary scraper unblocking mechanism, a first vibration device, a second vibration device, and an adjustable feeding mechanism. For materials with good flowability, the involvement of the unblocking mechanism can be reduced; for viscous materials, scraping, vibration, and gate opening adjustment improve the material's falling state, thus accommodating the feeding needs of different materials and helping to reduce unnecessary vibration and unblocking operations. Attached Figure Description

[0039] Figure 1 This is a schematic diagram of the overall structure of the integrated self-propelled intelligent environmentally friendly hopper of the present invention; Figure 2 This is a schematic diagram showing the positional relationship and imaging detection arrangement between the integrated self-propelled intelligent environmentally friendly hopper of the present invention and the vehicle to be loaded. Figure 3 This is a cross-sectional schematic diagram of the material feeding and unblocking structure of the integrated self-propelled intelligent environmentally friendly hopper of the present invention; Figure 4 This is a schematic diagram of the control relationship of the integrated self-propelled intelligent environmentally friendly hopper of the present invention; Figure 5 This is a flowchart of the control method for the integrated self-propelled intelligent environmentally friendly hopper of the present invention.

[0040] In the figure: 1. Hopper body; 2. Support bracket; 3. Feed inlet; 4. Discharge outlet; 5. Self-propelled mechanism; 6. Liftable support mechanism; 7. Imaging detection device; 8. Spray dust suppression component; 81. Spray nozzle; 9. Rotary scraper unclogging mechanism; 10. Discharge mechanism; 11. First vibration device; 12. Second vibration device. Detailed Implementation

[0041] The present invention will be further described below with reference to the accompanying drawings and embodiments. Figure 1 This is a schematic diagram of the overall structure of an integrated self-propelled intelligent environmentally friendly hopper. Figure 2 This is a schematic diagram illustrating the loading relationship between the intelligent and environmentally friendly hopper and the vehicle to be loaded. Figure 3 This is a cross-sectional structural diagram of the hopper body. Figure 4 This diagram illustrates the control relationships between the various detection components, actuators, and the controller. Figure 5 This is a flowchart illustrating the intelligent and environmentally friendly hopper control method. The following content is used to explain the structure and working process of the present invention and is not intended to limit the scope of protection of the present invention.

[0042] Working principle (1) Overall composition and working status like Figures 1 to 4 As shown, the integrated self-propelled intelligent environmentally friendly hopper of the present invention includes a hopper body 1, a support bracket 2, a self-propelled mechanism 5, a liftable support mechanism 6, an imaging detection device 7, a spray dust suppression component 8, a rotary scraper unblocking mechanism 9, a material discharge mechanism 10, a first vibration device 11, a second vibration device 12, an audio-visual prompt component, a controller, and a power supply module.

[0043] The hopper body 1 is mounted on the support frame 2. The upper part of the hopper body 1 is provided with a feed inlet 3, and the lower part is provided with a discharge outlet 4. A material channel is formed between the feed inlet 3 and the discharge outlet 4. After the grab bucket unloads the bulk material into the hopper body 1 through the feed inlet 3, the material moves downward along the material channel under the action of gravity and is discharged into the cargo box of the transport vehicle located below the hopper through the discharge outlet 4.

[0044] The self-propelled mechanism 5 and the liftable support mechanism 6 are located at the bottom of the support frame 2. The self-propelled mechanism 5 is used to move the intelligent environmentally friendly hopper within the working area, and the liftable support mechanism 6 is used to support the support frame 2 and the hopper body 1 when the hopper is being loaded onto a vehicle.

[0045] like Figure 2As shown, the imaging detection device 7 is mounted on the support bracket 2 and includes a first imaging detection unit and a second imaging detection unit. The first imaging detection unit is positioned at the front side of the vehicle to be loaded, and the second imaging detection unit is positioned at the rear side of the vehicle to be loaded. Both imaging detection units face the vehicle cargo box detection area below the discharge port 4.

[0046] The first imaging detection unit and the second imaging detection unit work together to obtain the position of the vehicle cargo box relative to the discharge port 4, the boundary of the vehicle cargo box, the position of the material surface in the area corresponding to the discharge port 4, and the position of the vehicle's rear baffle.

[0047] The spray dust suppression component 8 is installed at the feed inlet 3 to suppress dust generated near the feed inlet 3 during the unloading process of the grab bucket.

[0048] like Figure 3 As shown, the rotary scraper unblocking mechanism 9 is located at the material channel of the hopper body 1, the first vibration device 11 and the second vibration device 12 are respectively located on the outside of the hopper body 1, and the discharge mechanism 10 is located at the discharge port 4.

[0049] The feeding mechanism 10 includes a material gate and a material gate drive device, which can drive the material gate to open, close and change the opening degree.

[0050] The intelligent and environmentally friendly hopper has two modes of operation: transfer mode and loading mode. In the transfer mode, the lifting support mechanism 6 retracts, and the self-propelled mechanism 5 drives the hopper to move. In the loading mode, the self-propelled mechanism 5 stops, the lifting support mechanism 6 descends to the support position, and the transport vehicle drives under the discharge port 4 for loading.

[0051] (2) Self-propelled relocation like Figure 1 As shown, when it is necessary to change the working position of the intelligent environmental protection hopper, the lifting support mechanism 6 is in the retracted state, so that the support component is lifted off the ground.

[0052] The self-propelled mechanism 5 includes four drive wheels, each connected to a corresponding walking drive device. Two of the drive wheels are also connected to a corresponding steering drive device via a steering mechanism, forming a four-wheel drive, two-wheel steering self-propelled structure.

[0053] The controller is connected to a remote control signal receiver. On-site operators send forward, backward, stop, and turn control commands via the remote control device. After receiving the corresponding commands, the remote control signal receiver transmits the control signals to the walking drive device or the steering drive device, causing the intelligent environmentally friendly hopper to move in the direction controlled by the operator.

[0054] The four-wheel drive structure provides the overall power for the hopper's movement, while the two-wheel steering structure is used to change the direction of movement. Operators control the intelligent, environmentally friendly hopper to complete the relocation within the work area based on on-site road conditions and the target loading location.

[0055] (3) Hopper positioning and support like Figure 1 , Figure 4 and Figure 5 As shown, after the intelligent environmentally friendly hopper moves to the predetermined loading position, the self-propelled mechanism 5 is stopped.

[0056] Then, the lifting support mechanism 6 is controlled to move, so that the support member is lowered from the retracted position to the support position and in contact with the ground, thereby forming a stable support for the bearing bracket 2 and the hopper body 1.

[0057] After the support is completed, the intelligent and environmentally friendly hopper enters the loading state. During loading, the hopper remains in the current working position, and the relative position of the vehicle's cargo box and the discharge port 4 along the length of the vehicle is adjusted by moving the transport vehicle.

[0058] (4) Initial vehicle positioning detection like Figure 2 , Figure 4 and Figure 5 As shown, after the hopper support is completed, the vehicle to be loaded drives into the loading area below the discharge port 4.

[0059] The first imaging detection unit and the second imaging detection unit acquire the position and boundary information of the vehicle cargo box from the front and rear sides of the vehicle, respectively.

[0060] The controller pre-sets an initial loading position range corresponding to the discharge port 4. After the vehicle enters the loading area, the imaging detection device 7 detects the relative position between the vehicle's cargo box and the discharge port 4.

[0061] When the vehicle's cargo box has not yet entered the initial loading position range, the unloading mechanism 10 remains closed, and the driver adjusts the vehicle position according to the on-site prompts.

[0062] During vehicle adjustment, the imaging detection device 7 continuously monitors the position of the vehicle's cargo box.

[0063] Once the vehicle's cargo box enters the initial loading position range, the controller confirms the stop status of the self-propelled mechanism 5, the support status of the liftable support mechanism 6, and the emergency stop status.

[0064] When the self-propelled mechanism 5 stops, the liftable support mechanism 6 is in the support state, the vehicle cargo box is in the initial loading position and there is no emergency stop signal, the loading state begins.

[0065] (5) Start loading prompts and initial material release Once the loading process begins, the audio-visual prompt component sends a loading prompt to the vehicle driver.

[0066] The voice prompt device outputs "Start loading" and a red indicator light illuminates.

[0067] The red indicator light indicates that the vehicle is currently in a suitable position for unloading materials, and the driver should keep the vehicle stationary.

[0068] The controller then activates the feeding mechanism 10, and the material enters the vehicle cargo box through the feeding port 4.

[0069] The combination of red indicator lights and voice prompts allows vehicle drivers to clearly understand that they are currently in a parking and loading state.

[0070] (6) Current material level detection in the material drop area like Figure 2 , Figure 4 and Figure 5 As shown, after the material falls into the vehicle's cargo box through the discharge port 4, it first gradually accumulates in the cargo box area corresponding to the discharge port 4, forming the current material discharge area.

[0071] The imaging detection device 7 continuously or at set time intervals detects the material surface position within the current material dropping area, and the controller determines the current actual material level based on the material surface position.

[0072] The controller has a preset material loading level.

[0073] When the actual material level is lower than the preset loading level, the feeding mechanism 10 remains open, allowing the material to continue entering the current feeding area.

[0074] As the loading process continues, the material surface in the current dropping area gradually rises. When the actual material level reaches the preset loading level, the controller shuts down the discharging mechanism 10, identifies the current dropping area as the area where the current stage of loading has been completed, and proceeds to the next waiting area for judgment.

[0075] The above-mentioned material level determination method can control the loading level of the current area based on the allowable loading height of the side baffle of the carriage, reducing the possibility of material overflowing from the side of the carriage due to continuous material falling at the same position.

[0076] (7) Subsequent determination of the waiting area and vehicle forward movement After the current material dropping area reaches the preset loading position and the material feeding mechanism 10 is closed, the controller determines whether there is still space to be loaded along the length of the vehicle cargo box based on the vehicle cargo box boundary and loading status obtained by the imaging detection device 7.

[0077] The cargo box area that has not yet reached the corresponding loading state along the length of the vehicle cargo box and can enter the corresponding position of the discharge port 4 by moving the vehicle forward is designated as the subsequent loading area.

[0078] When there is a subsequent area to be installed, the controller illuminates the green indicator light and outputs "Please move the vehicle" via the voice prompt device.

[0079] The driver moves the transport vehicle forward according to the instructions.

[0080] During vehicle movement, the material feeding mechanism 10 remains closed.

[0081] As the vehicle moves forward, the area that has completed this stage of loading gradually moves away from the discharge port 4, and the subsequent waiting area gradually moves to below the discharge port 4.

[0082] The imaging detection device 7 continuously acquires the position of the vehicle's cargo box. When the subsequent loading area reaches the loading position corresponding to the unloading port 4 and the vehicle comes to a complete stop, the controller re-enters the parking and unloading state.

[0083] At this point, the feeding mechanism 10 is restarted, and the material enters the new current feeding area.

[0084] Once the new current material dropping area reaches the preset loading level, the material feeding mechanism 10 is closed again, and the system continues to determine whether there is a subsequent loading area for the vehicle.

[0085] Therefore, the loading of vehicles proceeds in a cyclical manner, following the sequence of loading materials in the current area, reaching the preset material level, closing the material unloading mechanism, prompting the vehicle to move forward, ensuring the next waiting area is in place, and reloading.

[0086] (8) Vehicle movement status control like Figure 4 and Figure 5 As shown, during the loading process, the current working status is used to distinguish between the parking and unloading status and the vehicle movement status.

[0087] When the vehicle is in the parking and unloading state, the red indicator light will illuminate, the unloading mechanism 10 will be in the open state, and the transport vehicle will remain stationary.

[0088] If the imaging detection device 7 detects a change in the vehicle's position while the vehicle is stopped and unloading material, the controller shuts down the unloading mechanism 10 and stops unloading material.

[0089] Once the current material feeding area reaches the preset loading position, the controller first shuts down the feeding mechanism 10, then lights up the green indicator light and outputs a "Please move the vehicle" voice prompt, thus entering the vehicle movement state.

[0090] When the vehicle is in motion, the transport vehicle moves forward as instructed, and the unloading mechanism 10 remains closed.

[0091] After the imaging detection device 7 detects that the subsequent loading area has reached the unloading position and the vehicle has come to a complete stop, it enters the parking and unloading state again.

[0092] By switching between the stopped material unloading state and the vehicle moving state, the vehicle can only adjust its position after stopping material unloading, thus coordinating the material unloading process with the vehicle moving forward process.

[0093] (9) Inspection of the rear fender and completion of loading like Figure 2 and Figure 5 As shown, as the vehicle continues to load and move forward, the cargo box of the vehicle gradually completes the loading along its length.

[0094] The second imaging detection unit, located at the rear of the vehicle, continuously acquires the position of the rear area of ​​the vehicle and the rear bumper.

[0095] Once the end loading area corresponding to the rear of the vehicle moves to the corresponding position of the discharge port 4, the discharge mechanism 10 is activated to load the end loading area.

[0096] The imaging detection device 7 detects the actual material level in the terminal loading area.

[0097] Once the loading area at the end reaches the preset loading level, the controller further determines the loading termination status of the vehicle based on the position of the vehicle's rear baffle obtained by the second imaging detection unit.

[0098] When the rear baffle of the vehicle reaches the preset end position relative to the discharge port 4, it is determined that the loading process along the length direction of the vehicle is completed, and the discharge mechanism 10 is closed.

[0099] After loading is completed, the green indicator light will illuminate, the bell will ring continuously, and the voice prompt device will output "Please leave".

[0100] Therefore, during the loading process, the green indicator light, along with the "Please move the vehicle" prompt, indicates that the vehicle will continue to move forward for subsequent loading; after loading is completed, the green indicator light, along with the long bell and the "Please leave" prompt, indicates that the loading of this entire vehicle is finished.

[0101] (10) Rotary scraper to clear blockage like Figure 3 As shown, the rotary scraper unblocking mechanism 9 is located at the material channel of the hopper body 1.

[0102] The rotary scraper unblocking mechanism 9 includes an annular track arranged around the material channel, a scraper assembly arranged on the annular track, an unblocking drive device, and a transmission mechanism.

[0103] The scraping part of the scraper assembly is located close to the inner wall of the material channel, and the unblocking drive device drives the scraper assembly to move along the circular track through the transmission mechanism.

[0104] For materials with a certain degree of viscosity, as the material moves along the material channel toward the discharge port 4, some material may adhere to the inner wall of the hopper or form local accumulation or bridging.

[0105] After the rotary scraper unblocking mechanism 9 is started, the scraper assembly moves along the circular track. Its scraping part scrapes and disturbs the material near the inner wall of the material channel, loosening the adhering material and breaking up the local accumulation or bridging state, so that the material moves back towards the discharge port 4.

[0106] (11) Dual vibration assisted feeding The first vibration device 11 and the second vibration device 12 are located on the outside of the hopper body 1.

[0107] The vibrations generated by the first vibration device 11 and the second vibration device 12 during operation are transmitted to the material in the material channel through the hopper body 1, causing the material adhering to the inner wall of the hopper to be disturbed by vibration, and in conjunction with the rotating scraper unblocking mechanism 9, the falling state of the material is improved.

[0108] Depending on the viscosity of the material, the two vibrating devices operate in different states.

[0109] For ordinary viscous materials, the first vibration device 11 and the second vibration device 12 work alternately.

[0110] For highly viscous materials, the first vibration device 11 and the second vibration device 12 work synchronously and continuously.

[0111] The rotary scraper unblocking mechanism 9 works in conjunction with two vibration devices to subject the material to both scraping and vibration.

[0112] (12) Control of feeding and unblocking of different materials like Figure 4 As shown, before the current batch of operations begins, the corresponding material feeding and unblocking control methods are determined based on the properties of the materials being processed.

[0113] In one specific control method, the working materials are classified as non-sticky materials, moderately sticky materials, and strongly sticky materials according to their viscosity.

[0114] For non-sticky materials, the material is fed using its own gravity. The rotating scraper unblocking mechanism 9, the first vibration device 11, and the second vibration device 12 remain stopped, and the material gate is controlled according to the presence or absence of material.

[0115] For ordinary viscous materials, after the material gate is opened, the rotating scraper unblocking mechanism 9 works according to the material status; after a set time, the first vibration device 11 and the second vibration device 12 are started, and the two vibration devices work alternately.

[0116] For highly viscous materials, after the material gate is opened, the rotating scraper unblocking mechanism 9 operates synchronously. After a set time, the first vibration device 11 and the second vibration device 12 are started, and the two vibration devices work synchronously and continuously.

[0117] When highly viscous materials are continuously in a material state, the controller increases the opening of the material gate; when the material level changes according to a preset value, the material gate is restored to the initial opening, and subsequent material feeding control continues.

[0118] The above method allows the feeding assistance strength to increase as the viscosity of the material increases.

[0119] (13) Spraying dust suppression like Figure 1 As shown, the spray dust suppression component 8 is located at the feed inlet 3 and includes multiple spray nozzles 81, a liquid supply pipeline, and a control valve.

[0120] Multiple spray nozzles 81 are spaced around the feed inlet 3 and connected to the liquid supply device through a liquid supply pipeline.

[0121] When the grab bucket is unloading, the bulk material enters the hopper body 1 from a certain height, which can easily generate dust near the feed inlet 3.

[0122] For materials for which water spraying is permitted to suppress dust, the spray dust suppression component 8 is activated when the grab bucket is unloading, so that the spray nozzle 81 sprays atomized liquid near the feed inlet 3 to suppress the dust generated during the unloading process.

[0123] After the grab bucket completes unloading, shut down the spray dust suppression component 8.

[0124] For materials where water spraying is prohibited, the spray dust suppression component 8 remains closed.

[0125] (14) Safety Interlock like Figure 4 and Figure 5 As shown, the controller determines whether to allow the material unloading mechanism 10 to be opened based on the state of the self-propelled mechanism 5, the state of the liftable support mechanism 6, the position of the vehicle cargo box, and the emergency stop state.

[0126] When the self-propelled mechanism 5 is in the walking state, the feeding mechanism 10 remains closed.

[0127] When the liftable support mechanism 6 is not in the support position, the material feeding mechanism 10 remains closed.

[0128] The unloading mechanism 10 remains closed when the vehicle cargo box has not entered the permitted loading position.

[0129] When an emergency stop signal is received, the feeding mechanism 10 shuts down.

[0130] When the self-propelled mechanism 5 stops, the liftable support mechanism 6 completes its support, the vehicle cargo box enters the permitted loading position, and there is no emergency stop signal, the unloading mechanism 10 is allowed to be opened.

[0131] If abnormal vehicle movement is detected during the parking and unloading process, the unloading mechanism 10 is shut down; when the system enters the vehicle movement state, the unloading mechanism 10 is kept shut down first, and then the driver moves the vehicle according to the prompts.

[0132] (15) Loading completed and condition restored like Figure 5 As shown, the loading of the vehicle ends when the loading area at the end of the vehicle reaches the preset loading level and the rear baffle of the vehicle reaches the preset termination position.

[0133] The controller shuts down the unloading mechanism 10 and prompts the vehicle to leave the loading area via a green indicator light, a long bell, and a "Please leave" voice prompt.

[0134] If loading continues at the current work position for the next transport vehicle, the self-propelled mechanism 5 remains stationary and the lifting support mechanism 6 remains in a supported state, waiting for the next vehicle to enter.

[0135] When it is necessary to move the intelligent environmentally friendly hopper to another working position, first keep the material discharge mechanism 10 closed, then restore the lifting support mechanism 6 to the retracted position, and then the operator controls the self-propelled mechanism 5 to move to the next working position through the remote control device. Example

[0136] Example 1: Overall Structure and Remote Control Transition like Figures 1 to 4 As shown, this embodiment provides an integrated self-propelled intelligent environmentally friendly hopper, including a hopper body 1, a support bracket 2, a self-propelled mechanism 5, a liftable support mechanism 6, an imaging detection device 7, a spray dust suppression component 8, a rotary scraper unblocking mechanism 9, a material discharge mechanism 10, a first vibration device 11, a second vibration device 12, an audio-visual prompt component, a controller, and a power supply module.

[0137] The hopper body 1 is installed on the support bracket 2. The upper part of the hopper body 1 forms a feed inlet 3, and the lower part forms a discharge outlet 4. A material channel is formed between the feed inlet 3 and the discharge outlet 4.

[0138] like Figure 1 As shown, a self-propelled mechanism 5 is provided at the bottom of the support bracket 2. The self-propelled mechanism 5 includes four drive wheels, which are respectively connected to the corresponding walking drive device. Two of the drive wheels are also connected to the steering drive device through a steering mechanism, forming a four-wheel drive and two-wheel steering structure.

[0139] The operator sends forward, backward, stop, and turn control commands to the remote control signal receiving device through the remote control operating device, so that the self-propelled mechanism 5 drives the intelligent environmentally friendly hopper to move within the working area.

[0140] The bottom of the support frame 2 is also equipped with a liftable support mechanism 6. When the hopper moves, the liftable support mechanism 6 is in the retracted position; after the hopper reaches the loading operation position, the self-propelled mechanism 5 stops, and the liftable support mechanism 6 descends to the support position.

[0141] like Figure 2 As shown, the hopper remains fixed during loading, and the transport vehicle adjusts its position along the length of the vehicle according to the loading status.

[0142] The imaging detection device 7 is mounted on the support bracket 2 and includes a first imaging detection unit and a second imaging detection unit. The first imaging detection unit is positioned on the front side of the vehicle, and the second imaging detection unit is positioned on the rear side of the vehicle. Both imaging detection units face the detection area of ​​the vehicle cargo box below the discharge port 4.

[0143] like Figure 3 As shown, the rotary scraper unblocking mechanism 9 is located at the material channel of the hopper, the first vibration device 11 and the second vibration device 12 are located on the outside of the hopper body 1, and the discharge mechanism 10 is located at the discharge port 4.

[0144] The above structure enables the intelligent and environmentally friendly hopper to perform remote-controlled relocation, stable support, vehicle detection, material discharge, and auxiliary unloading operations.

[0145] Example 2: Intelligent loading of vehicles like Figure 2 , Figure 4 and Figure 5 As shown, after the intelligent environmentally friendly hopper moves to the loading position and completes its support, the vehicle to be loaded drives into the discharge port 4 below.

[0146] The imaging detection device 7 detects the position of the vehicle cargo box relative to the discharge port 4.

[0147] Before the vehicle enters the preset initial loading position, the unloading mechanism 10 remains closed, and the driver adjusts the vehicle position.

[0148] When the vehicle enters the preset initial loading position, the self-propelled mechanism 5 stops, the liftable support mechanism 6 is in a supported state and there is no emergency stop signal, the controller enters the loading start state.

[0149] The voice prompt device outputs "Start loading" and a red indicator light illuminates, while the driver keeps the vehicle stationary.

[0150] Then the feeding mechanism 10 is activated, and the material enters the vehicle cargo box through the feeding port 4.

[0151] The imaging detection device 7 detects the material surface position in the current material feeding area. When the actual material level is lower than the preset loading level, the feeding continues; when the actual material level reaches the preset loading level, the feeding mechanism 10 is shut down.

[0152] Then determine whether there are still areas to be installed along the length of the vehicle.

[0153] When there is a subsequent area to be installed, the green indicator light will illuminate, and the voice prompt device will output "Please move the vehicle".

[0154] The driver moves the vehicle forward, and the unloading mechanism 10 remains closed during the vehicle's movement.

[0155] After the vehicle stops and enters the corresponding position of the discharge port 4 in the subsequent loading area, the discharge mechanism 10 is restarted to continue loading.

[0156] The above process is repeated so that the cargo box of the vehicle is gradually loaded along its length.

[0157] The second imaging detection unit detects the position of the rear bumper of the vehicle as it moves forward.

[0158] When the loading area at the end of the vehicle reaches the preset loading position and the rear baffle of the vehicle reaches the preset termination position relative to the discharge port 4, the loading of the entire vehicle is confirmed to be complete.

[0159] At this time, the feeding mechanism 10 is closed, the green indicator light illuminates, the bell rings continuously, and the voice prompt device outputs "Please leave".

[0160] If the imaging detection device 7 detects that the vehicle has moved without prompting when the vehicle is parked and unloading, the unloading mechanism 10 will be shut down. During the forward movement of the vehicle when the "Please move vehicle" prompt is in effect, the unloading mechanism 10 will remain shut down.

[0161] Through the above controls, material height detection, vehicle forward movement, and tailgate detection together constitute a continuous vehicle loading process.

[0162] Example 3: Control of material feeding and blockage clearing for different materials like Figure 3 and Figure 4 As shown, the rotary scraper unblocking mechanism 9 includes an annular track, a scraper assembly, an unblocking drive device, and a transmission mechanism. The unblocking drive device drives the scraper assembly to move along the annular track through the transmission mechanism, causing the scraper assembly to scrape the material near the inner wall of the material channel.

[0163] The first vibration device 11 and the second vibration device 12 are located on the outside of the hopper body 1, and the vibration, in conjunction with the rotating scraper unblocking mechanism 9, improves the falling state of viscous materials.

[0164] Different control methods are used depending on the type of material being processed.

[0165] For non-sticky materials, the rotary scraper unblocking mechanism 9, the first vibration device 11, and the second vibration device 12 remain stopped.

[0166] In one specific control method, the initial opening of the material gate is 50%. After the material gate is open for 23 seconds, the material status is judged; if material is detected, the opening of the material gate is maintained; if no material is detected for 25 seconds, the material gate is closed; the material gate is reopened after feeding is detected again.

[0167] For ordinary viscous materials, the initial opening of the feed gate is 50%.

[0168] After detecting that there is material, keep the material gate open and start the rotating scraper unblocking mechanism 9.

[0169] After the rotary scraper unblocking mechanism 9 operates for 5 seconds, the first vibration device 11 and the second vibration device 12 are activated, and the two vibration devices operate alternately.

[0170] If no material is fed for 15 seconds, close the material gate; after the feeding is detected again, repeat the above feeding and unblocking process.

[0171] For highly viscous materials, the initial opening of the feed gate is 60%.

[0172] After the material gate is opened, the rotating scraper unblocking mechanism 9 is activated simultaneously.

[0173] After the material gate is opened for 23 seconds, the first vibration device 11 and the second vibration device 12 are started, and the two vibration devices work synchronously and continuously.

[0174] After vibrating for 24 seconds, a material shortage check is performed. If the material shortage is detected, the material gate is closed.

[0175] If the vibration lasts for 25 seconds and the material is still detected, the material gate opening is increased from 60% to 80%.

[0176] After increasing the opening of the material gate, the material status is monitored. When the material level change reaches 10cm, the material gate is restored to 60% of its initial opening and the cycle begins.

[0177] The presence or absence of material can also be determined by weight detection. In one specific setting, a weight less than 29t is determined to be in an empty state, while a weight greater than 30t is determined to be in a material state.

[0178] Through the above control, non-sticky materials are mainly fed by gravity, ordinary sticky materials are fed by alternating rotary scraper and dual vibration, and highly sticky materials are fed by a combination of rotary scraper, dual vibration working synchronously, and gate opening adjustment.

[0179] Example 4: Dust Suppression by Spraying, Safety Interlocks, and Complete Operation Process like Figure 1 As shown, the spray dust suppression component 8 is located at the feed inlet 3 and includes multiple spray nozzles 81, a liquid supply pipeline, and a control valve.

[0180] Multiple spray nozzles 81 are arranged around the feed inlet 3. When the grab bucket unloads bulk materials, the spray dust suppression component 8 is activated for materials that allow water spraying to suppress dust, so that the spray nozzles 81 form an atomized area around the feed inlet 3; for materials that prohibit water spraying, the spray dust suppression component 8 remains closed.

[0181] like Figure 4 As shown, the controller establishes a safety interlock based on the self-propelled mechanism 5, the liftable support mechanism 6, the vehicle position, and the emergency stop status.

[0182] When the self-propelled mechanism 5 is in the walking state, the liftable support mechanism 6 is not in the support state, the vehicle has not entered the permitted loading position, or there is an emergency stop signal, the unloading mechanism 10 remains closed.

[0183] In a complete operation, the appropriate feeding and spraying method is first determined based on the current materials being processed.

[0184] The operator controls the self-propelled mechanism 5 to move the hopper to the loading position via a remote control device, then stops the self-propelled mechanism 5 and lowers the liftable support mechanism 6 to the support position.

[0185] The vehicle drives into the area below the discharge port 4, and the imaging detection device 7 detects the vehicle's position.

[0186] Once the vehicle is in place, the red indicator light illuminates, and a voice prompt says "Start loading," activating the material feeding mechanism 10.

[0187] Once the current material feeding area reaches the preset material loading level, the material feeding mechanism 10 will be shut down.

[0188] When there is a subsequent installation area, the green indicator light will illuminate and prompt "Please move the vehicle," and the driver will control the vehicle to move forward.

[0189] Loading resumed after the vehicle was back in place.

[0190] The above process is repeated until the final loading area reaches the preset loading level and the vehicle's rear baffle reaches the preset termination position.

[0191] Then the feeding mechanism 10 is shut down, the green indicator light illuminates, the bell rings continuously and outputs "Please leave".

[0192] After the vehicle leaves, if the loading of the next vehicle continues at the current position, the hopper remains stopped and supported; if the working position needs to be changed, the lifting support mechanism 6 is retracted, and the intelligent environmentally friendly hopper is moved to the next working position by the self-propelled mechanism 5.

[0193] Therefore, combined Figure 1 The overall structure shown Figure 2 The vehicle loading relationship shown Figure 3 The hopper internal unblocking and discharge structure shown Figure 4 The control relationships shown and Figure 5 The control process shown enables intelligent and environmentally friendly hoppers to move automatically, intelligent vehicle loading, material level detection, vehicle forward movement prompts, end-of-pipe judgment, classified unblocking, vibration-assisted material feeding, spray dust suppression, and safety interlocks.

[0194] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," and "counterclockwise," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0195] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0196] The above description is merely a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. An integrated self-propelled intelligent environmentally friendly hopper, characterized in that: It includes a support bracket (2) and a hopper body (1) mounted on it. The upper and lower parts of the hopper body (1) are respectively provided with a feed inlet (3) and a discharge outlet (4). The bottom of the support bracket (2) is provided with a self-propelled mechanism (5) and a liftable support mechanism (6). The support bracket (2) is provided with an imaging detection device (7). A spray dust suppression component (8) is provided at the feed inlet (3). A rotating scraper cleaning mechanism (9) is provided at the material channel of the hopper body (1). A discharge mechanism (10) is provided at the discharge outlet (4). A first vibration device (11) and a second vibration device (12) are provided on the outside of the hopper body (1).

2. The integrated self-walking intelligent environment-friendly hopper according to claim 1, characterized in that: The self-propelled mechanism (5) includes four drive wheels, which are connected to the corresponding walking drive devices through a transmission mechanism. Two of the drive wheels are connected to the corresponding steering drive devices through a steering mechanism. The liftable support mechanism (6) includes a support member and a support drive device. The support member has a retracted position that is off the ground and a support position that is in contact with the ground.

3. The integrated self-walking intelligent environment-friendly hopper according to claim 1, characterized in that: The imaging detection device (7) includes a first imaging detection unit and a second imaging detection unit. The first imaging detection unit is located on the support bracket (2) at the position corresponding to the front of the vehicle to be loaded, and the second imaging detection unit is located on the support bracket (2) at the position corresponding to the rear of the vehicle to be loaded. Both the first imaging detection unit and the second imaging detection unit are set towards the vehicle cargo box detection area below the discharge port (4).

4. The integrated self-walking intelligent environment-friendly hopper according to claim 1, characterized in that: The spray dust suppression assembly (8) includes multiple spray nozzles (81), a liquid supply pipeline and a control valve. The multiple spray nozzles (81) are spaced around the feed inlet (3) and connected to the liquid supply device through the liquid supply pipeline. The control valve is located on the liquid supply pipeline.

5. The integrated self-propelled intelligent environmentally friendly hopper according to claim 1, characterized in that: The rotary scraper unblocking mechanism (9) includes an annular track arranged around the material channel of the hopper body (1), a scraper assembly arranged on the annular track, an unblocking drive device and a transmission mechanism. The scraping part of the scraper assembly is arranged facing the inner wall of the material channel. The unblocking drive device is connected to the scraper assembly through the transmission mechanism. The discharge mechanism (10) includes a material gate and a material gate drive device connected to the material gate. The material gate has multiple opening positions.

6. The integrated self-propelled intelligent environmentally friendly hopper according to claim 1, characterized in that: It also includes an audio-visual prompting component and a controller. The audio-visual prompting component includes a red indicator light, a green indicator light, a voice prompting device, and a bell prompting device. The signal input terminal of the controller is connected to the imaging detection device (7) and the remote control signal receiving device. The control output terminal of the controller is connected to the self-propelled mechanism (5), the liftable support mechanism (6), the spray dust suppression component (8), the rotary scraper unblocking mechanism (9), the material feeding mechanism (10), the first vibration device (11), the second vibration device (12), and the audio-visual prompting component.

7. A control method for an integrated self-propelled intelligent environmentally friendly hopper as described in any one of claims 1 to 6, characterized in that, Includes the following steps: S1. Control the self-propelled mechanism (5) to move the intelligent environmental protection hopper to the loading operation position through remote control operation, stop the self-propelled mechanism (5), and put the liftable support mechanism (6) in the support position. S2. The position of the cargo box of the vehicle to be loaded relative to the unloading port (4) is detected by the imaging detection device (7). When the cargo box of the vehicle enters the preset initial loading position, the loading prompt is output and the unloading mechanism (10) is opened. S3. The material level of the current material dropping area corresponding to the discharge port (4) is detected by the imaging detection device (7). When the material level is lower than the preset loading level, the material continues to be discharged. When the material level reaches the preset loading level, the material discharge mechanism (10) is closed. S4. Determine whether there is a subsequent loading area along the length of the vehicle cargo box. When there is a subsequent loading area, output a vehicle movement prompt, keep the unloading mechanism (10) closed, and have the vehicle driver move the vehicle forward. The position of the subsequent loading area relative to the unloading port (4) is detected by the imaging detection device (7). S5. When the subsequent waiting area enters the loading position corresponding to the discharge port (4) and the vehicle stops again, the discharge mechanism (10) is restarted and steps S3 to S5 are repeated. S6. When the loading area corresponding to the end of the vehicle reaches the preset loading position, and the imaging detection device (7) detects that the rear baffle of the vehicle reaches the preset termination position relative to the discharge port (4), the discharge mechanism (10) is closed, and the vehicle loading is confirmed to be completed.

8. The control method according to claim 7, characterized in that: In step S2, when loading begins, the red indicator light is activated to the prompting state, and a loading start prompt is output through the voice prompt device; in step S4, after the unloading mechanism (10) is closed, the green indicator light is activated to the prompting state, and a vehicle movement prompt is output through the voice prompt device; when vehicle movement is detected in the unloading state without outputting a vehicle movement prompt, the unloading mechanism (10) is closed; in step S6, the green indicator light is activated to the prompting state, a loading end bell is output through the bell prompt device, and a vehicle departure prompt is output through the voice prompt device.

9. The control method according to claim 7, characterized in that: Obtain the material type information of the current working material and select the corresponding feeding control method according to the material type; for non-sticky materials, keep the rotary scraper unblocking mechanism (9), the first vibration device (11) and the second vibration device (12) stopped; for ordinary sticky materials, start the rotary scraper unblocking mechanism (9) after the feeding mechanism (10) is opened, and after the first set time, make the first vibration device (11) and the second vibration device (12) work alternately; for highly sticky materials, open the material gate of the feeding mechanism (10) at the first opening degree and start the rotary scraper unblocking mechanism (9), and after the second set time, make the first vibration device (11) and the second vibration device (12) work synchronously. When the material is continuously detected to be in a material state, increase the material gate to the second opening degree greater than the first opening degree, and after detecting a preset change in the material level, restore the material gate to the first opening degree.

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