CN112193850A - Step-by-step unmanned loading system - Google Patents
Step-by-step unmanned loading system Download PDFInfo
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- CN112193850A CN112193850A CN202011105154.9A CN202011105154A CN112193850A CN 112193850 A CN112193850 A CN 112193850A CN 202011105154 A CN202011105154 A CN 202011105154A CN 112193850 A CN112193850 A CN 112193850A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
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Abstract
The invention discloses a step-by-step unmanned loading system which comprises a vehicle information identification module, a hopper loading system, a distance measurement module, a distance guide module, an LED red-green indicator light module and a data processing module, wherein the vehicle information identification module is used for identifying vehicles and sending vehicle information to the data processing module, the hopper loading system is used for loading vehicles entering a material loading area, the distance measurement module is used for measuring the distance of the vehicles entering the material loading area, the distance guide module is used for prompting the appointed position where the vehicles travel, the LED red-green indicator light module is used for prompting the vehicles to travel or stop, and the data processing module is used for controlling the loading system. The system has the advantages of being simple in structure, capable of achieving automatic vehicle information identification, capable of obtaining loading planning information through the vehicle information, guiding the vehicle to move to the designated position step by step according to the loading planning information to load, achieving automatic guiding control loading, improving loading efficiency, reducing labor cost, high in loading precision and the like.
Description
Technical Field
The invention relates to an automatic loading system, in particular to a step-by-step unmanned loading system.
Background
In a business of transporting goods by a truck, a forklift or a hopper loader is often used to load goods. In both of the two scenarios, an operator needs to command ground personnel in an intercom mode, the ground personnel then command a truck driver to move the truck back and forth, and finally the truck is stopped below the hopper to be loaded. Because the working environment of the loading site is severe, the working intensity of ground personnel is increased through on-site command, and the loading efficiency is low.
Disclosure of Invention
The invention provides a step-by-step unmanned loading system, which solves the problem of low loading efficiency caused by the fact that ground personnel are required to command the existing loading.
The technical means adopted by the invention are as follows:
a step-by-step unmanned loading system, which comprises,
the vehicle information identification module is arranged at an entrance of the material loading area and used for identifying a driven vehicle and sending identified vehicle identification information to the data processing module;
the hopper loading system is arranged at the top of the material loading area and used for loading materials to vehicles running below a material distributor of the hopper loading system and sending a material loading completion signal to the data processing module after the materials are loaded;
the distance measuring module comprises a rotary laser distance measuring instrument arranged on the side face of the front end and/or the rear end of the material loading area, and the rotary laser distance measuring instrument is used for scanning the material loading area to obtain distance information between the vehicle head or the vehicle tail and the rotary laser distance measuring instrument and sending the distance information to the data processing module;
the distance guide module comprises a plurality of LED indicating lamps which are arranged on one side of the material loading area at intervals and used for prompting the appointed position of the vehicle in advancing;
the LED traffic light module is arranged at the front end of the vehicle advancing direction and used for prompting the vehicle to advance or stop;
the data processing module is used for receiving the vehicle identification information and generating loading planning information according to the vehicle identification information, wherein the loading planning information comprises a loading step number, a loading step amount and a step loading material amount; controlling an LED indicator lamp in the distance guidance module according to the loading planning information to prompt the appointed position where the vehicle travels; receiving the distance information, calculating current position information of a vehicle according to the distance information, judging whether the vehicle runs to the specified position or not according to the current position information of the vehicle, if not, controlling the LED red-green indicating lamp module to send a signal for prompting the vehicle to advance, if so, controlling the LED red-green indicating lamp module to send a signal for prompting the vehicle to stop and controlling the hopper loading system to load the vehicle below the distributing device; and receiving the loading completion signal and controlling a distance guiding module according to the loading planning information to prompt the vehicle to move to the next designated position.
Further, the hopper loading system comprises,
the buffer bin is used for storing the materials which are conveyed to the loading upstairs by the belt conveyor;
the air cannon is arranged on the side wall of the buffer bin and is used for vibrating the buffer bin when materials are adhered to the inner wall of the buffer bin or a material is blocked at the outlet of the buffer bin;
the feeding gate is arranged at the outlet of the buffer bin and is used for controlling the opening and closing of the outlet of the buffer bin;
the first hydraulic push rod is used for controlling the opening or closing of the feeding gate;
the weighing hopper is used for bearing the materials discharged by the buffer bin;
the weighing sensor is used for weighing the materials entering the weighing hopper to obtain material weight information and sending the material weight information to the data processing module;
the vibrator is arranged on the side wall of the weighing hopper and is used for vibrating the weighing hopper when materials are adhered to the inner wall of the weighing hopper or the outlet of the weighing hopper is blocked with the materials;
the discharging gate is used for opening when the material of the weighing hopper reaches the step material carrying amount and the vehicle moves to a specified position so as to discharge the material in the weighing hopper;
the second hydraulic push rod is used for controlling the opening or closing of the discharge gate;
and the distributing device is used for uniformly discharging the materials discharged by the discharging gate into the carriage.
Further, the data processing module is also used for receiving the material weight information, acquiring the weight of the material entering the weighing hopper, judging whether the weight of the material reaches the step loading amount, and if so, controlling the first hydraulic push rod to close the feeding gate;
when the vehicle is judged to run to the designated position and the weight of the material reaches the step material carrying amount, controlling the second hydraulic push rod to open the discharging gate and obtain the discharging speed of the weighing hopper according to the weight information of the material, and starting the vibrator if the discharging speed of the weighing hopper is smaller than a first set value;
after receiving the charging completion signal, controlling the second hydraulic push rod to close the discharging gate, controlling the first hydraulic push rod to open the feeding gate, receiving the weight information of the material to obtain the speed of the material entering the weighing hopper, and starting the air cannon if the speed of the material entering the weighing hopper is smaller than a second set value.
And further, the data processing module is also used for receiving the material weight information to obtain the weight of the material entering the weighing hopper, judging whether the difference value between the weight of the material and the material quantity of the step-loading material is smaller than a third set value, and if so, controlling the first hydraulic push rod to reduce the opening and closing degree of the feeding gate.
Further, the LED display device is also included;
the data processing module is further used for obtaining distance information from the specified position according to the calculated current position information of the vehicle and the specified position, and sending the vehicle identification information, loading planning information and the distance information from the specified position to the LED display equipment.
Further, still have vehicle calbiration system, vehicle calbiration system includes four and installs respectively in distributing device is all around laser range finder.
Further, the method also comprises the following steps of,
the voice broadcasting module is used for broadcasting the vehicle information, the loading planning information and the distance information from the specified position;
the camera module is arranged above the material loading area and used for monitoring the field operation dynamic state in the material loading area in real time;
and the voice help-seeking system is used for remote communication between a driver in the vehicle and a worker in the control room.
And the wireless terminal module is used for sending the loading planning information to a wireless mobile terminal and displaying the vehicle information, the loading planning information and the distance information from the specified position to a driver through the wireless mobile terminal.
The system further comprises a storage module, a display module and a display module, wherein the storage module is used for storing the live-action loading demonstration videos of different loading planning information;
the data processing module is further used for acquiring a live-action loading demonstration video corresponding to the loading planning information from the storage module according to the generated loading planning information and sending the live-action loading demonstration video to the wireless mobile terminal through the wireless terminal module.
And further, the intelligent error correction module is used for automatically correcting errors of the data processing module and correcting errors of the running equipment.
Compared with the prior art, the step-by-step unmanned loading system has the advantages that the system can automatically identify the vehicle information, obtain the loading planning information through the vehicle information and guide the vehicle to move to the specified position step by step according to the loading planning information for loading, so that automatic guiding control loading is realized, the loading efficiency is improved, and the labor cost is reduced.
Drawings
FIG. 1 is a block diagram of a step-by-step unmanned vehicle loading system disclosed in the present invention;
fig. 2 is a schematic diagram of a process of realizing distributed loading by the step-by-step unmanned loading system disclosed by the invention.
In the figure: 1. buffer bin, 2, air cannon, 3, feed gate, 4, first hydraulic push rod, 5, electromagnetic shaker, 6, weighing hopper, 7, weighing sensor, 8, vehicle information identification module, 9, the pronunciation system of seeking help, 10, the LED display screen, 11, voice broadcast module, 12, rotatory laser range finder, 13, banister barrier machine, 14, camera module, 15, distributing device, 16, apart from guide module, 17, LED red green pilot lamp module, 18, rifle bolt camera, 19, RFID radio frequency card, 20, arrange the material gate, 21, second hydraulic push rod.
Detailed Description
Fig. 1 shows a step-by-step unmanned loading system according to the present disclosure, including,
the vehicle information identification module 8 is arranged at the entrance of the material loading area and used for identifying the driven vehicle and sending the identified vehicle information to the data processing module;
the hopper loading system is arranged at the top of the material loading area and used for loading materials to vehicles running below a material distributor of the hopper loading system and sending a material loading completion signal to the data processing module after the materials are loaded;
the distance measuring module comprises a rotary laser distance measuring instrument 12 arranged on the side face of the front end and/or the rear end of the material loading area, and the rotary laser distance measuring instrument is used for scanning the material loading area to obtain distance information between the vehicle head or the vehicle tail and the rotary laser distance measuring instrument and sending the distance information to the data processing module;
the distance guide module 16 comprises a plurality of LED indicating lamps which are arranged on one side of the material loading area at intervals and used for prompting the appointed position of the vehicle in advancing;
the LED traffic light module 18 is arranged at the front end of the vehicle advancing direction and used for prompting the vehicle to advance or stop;
the data processing module is used for receiving the vehicle information and generating loading planning information according to the vehicle information, wherein the loading planning information comprises a loading step number, a loading step amount and a step loading material amount; controlling an LED indicator lamp in the distance guidance module according to the loading planning information to prompt the appointed position where the vehicle travels; receiving the distance information, calculating current position information of a vehicle according to the distance information, judging whether the vehicle runs to the specified position or not according to the current position information of the vehicle, if not, controlling the LED red-green indicating lamp module to send a signal for prompting the vehicle to advance, if so, controlling the LED red-green indicating lamp module to send a signal for prompting the vehicle to stop and controlling the hopper loading system to load the vehicle below the distributing device; and receiving the loading completion signal and controlling a distance guiding module according to the loading planning information to prompt the vehicle to move to the next designated position.
Specifically, a barrier machine 13 for controlling vehicles to enter and exit the material loading area is arranged at an inlet and an outlet of the material loading area (loading building), and a vehicle information identification module 8 is further arranged at the inlet of the material loading area. The data processing module processes the vehicle information and verifies whether the current vehicle is qualified (authorized) to enter the material loading area for loading, and after the vehicle is verified to be the authorized vehicle, the barrier gate barrier machine at the entrance is controlled to be opened to allow the vehicle to enter the material loading area. Meanwhile, the data processing module receives the vehicle identification information, acquires the vehicle information in the storage module according to the vehicle information and generates loading planning information of the vehicle according to the vehicle information, wherein the vehicle information comprises information such as load information, compartment length, standard load, emission standard and driver identity information, the generated loading planning information comprises loading step number, loading step amount and step load amount, the loading planning information is specifically acquired by calculating the required loading step number according to the compartment length of the vehicle and the width of the distributing device, calculating the length of each step (loading step amount) according to the compartment length of the vehicle and the calculated loading step number, and calculating the load capacity (step load amount) of each step according to the calculated loading step number and the standard load capacity of the vehicle. And controlling an LED indicator lamp in the distance guidance module according to the loading step amount in the loading planning information to prompt the appointed position where the vehicle needs to advance, wherein the loading planning information comprises the step number which is calculated according to the carriage length of the vehicle and the loading length of each step, the loading weight of each step is calculated according to the standard loading weight of the vehicle and the calculated loading step number, the vehicle advances to the appointed position under the control of a driver, a rotary laser distance meter 12 is arranged on the side surface of the front end and/or the rear end of the material loading area and is used for scanning the material loading area to obtain the distance information between the head or the tail of the vehicle and the rotary laser distance meter and sending the distance information to a data processing module, the data processing module receives the distance information and calculates the current position information and the vehicle length information of the vehicle according to the distance information, specifically, the laser range finder emits laser which is reflected back to the laser range finder after being shielded by an object, and the distance between the laser range finder and the object is measured. The distance between the distance measuring instrument and the carriage rear carriage plate (called tail distance) can be measured when the laser is shielded by the carriage rear carriage plate, and the distance between the vehicle head windshield and the distance measuring instrument (called head distance) can be measured similarly. The distance between the two distance meters positioned at the exit and the entrance of the channel is not changed, the distance between the two distance meters and the distance between the head and the tail of the two distance meters can obtain the length of the vehicle, the length of the channel is not changed in the same way, the distance between the exit and the entrance of the channel and respective equipment is not changed, and the position of the vehicle in the channel can be obtained according to the head distance and the tail distance. The data processing module judges whether the vehicle runs to the designated position according to the current position information of the vehicle, if not, the LED red-green indicating lamp module is controlled to send a signal for prompting the vehicle to advance, and if so, the LED red-green indicating lamp module is controlled to send a signal for prompting the vehicle to stop and the hopper loading system is controlled to load the vehicle under the distributing device; and receiving the loading completion signal and controlling a distance guiding module according to the loading planning information to prompt the vehicle to move to the next designated position.
The hopper loading system comprises a hopper loading device,
the buffer bin 1 is used for storing materials conveyed to the loading upstairs by the belt conveyor;
the air cannon 2 is arranged on the side wall of the buffer bin and is used for vibrating the inner wall of the buffer bin when materials are adhered to the inner wall of the buffer bin or a material is blocked at the outlet of the buffer bin;
the feeding gate 3 is arranged at the outlet of the buffer bin and is used for controlling the opening and closing of the outlet of the buffer bin;
the first hydraulic push rod 4 is used for controlling the opening or closing of the feeding gate;
the weighing hopper 6 is used for bearing the materials discharged by the buffer bin;
the weighing sensor 7 is used for weighing the materials entering the weighing hopper to obtain material weight information and sending the material weight information to the data processing module;
the vibrator 5 is arranged on the side wall of the weighing hopper and is used for vibrating the weighing hopper when materials are adhered to the inner wall of the weighing hopper or the outlet of the weighing hopper is blocked with the materials;
a discharge gate 20 for opening to discharge the material in the weigh hopper when the material in the weigh hopper reaches a step load amount and when the vehicle travels to a designated location;
a second hydraulic push rod 21 for controlling the opening or closing of the discharge gate;
and the distributor 15 is used for uniformly discharging the materials discharged by the discharge gate into the carriage.
The data processing module is also used for receiving the material weight information, obtaining the weight of the material entering the weighing hopper 6, judging whether the weight of the material reaches the step material loading amount, and controlling the first hydraulic push rod 4 to close the feeding gate 3 if the weight of the material reaches the step material loading amount;
when the vehicle is judged to run to the specified position and the weight of the material reaches the step material loading amount, controlling the second hydraulic push rod 21 to open the discharging gate 20 and obtain the discharging speed of the weighing hopper 6 according to the weight information of the material, and starting the vibrator 5 if the discharging speed of the weighing hopper 6 is smaller than a first set value;
after receiving the charging completion signal, controlling the second hydraulic push rod 21 to close the discharging gate 20, controlling the first hydraulic push rod 4 to open the feeding gate 3, receiving the weight information of the material to obtain the speed of the material entering the weighing hopper, and starting the air cannon 2 if the speed of the material entering the weighing hopper is smaller than a second set value.
Specifically, the loading planning information generated by the data processing module according to the vehicle information includes the loading times and the distance of each travel of the vehicle, in this embodiment, the planned loading times is 4 times, the data processing module calculates the specified position to which the vehicle needs to travel each time according to the loading planning information and controls the corresponding LED indicator to operate to prompt the driver to drive the vehicle to the corresponding specified position, for example, when loading for the first time, the position to which the vehicle head needs to travel should be the distance between the channel entrance and the distributor + the distributor width + the vehicle head length + the distance between the vehicle head and the carriage (to ensure that the front edge of the carriage crosses the distributor), the specified position to which the vehicle head needs to travel for the second time is the specified position + the carriage length/4 for the first time, the third time and the fourth time are the same as the second time, the data processing unit controls the LED indicator at the specified position for the first time to operate to prompt the driver to travel, when a driver drives a vehicle to advance to a specified position, a rotary laser range finder scans the material loading area to obtain distance information between the head or the tail of the vehicle and the rotary laser range finder and sends the distance information to a data processing module, the data processing module receives the distance information and calculates current position information of the vehicle according to the distance information, whether the vehicle runs to the specified position is judged according to the current position information of the vehicle, if not, the LED red-green indicating lamp module is controlled to send a prompt for prompting the vehicle to advance, and if so, the LED red-green indicating lamp module is controlled to send a prompt for prompting the vehicle to stop and control the hopper loading system to load the vehicle under the distributing device. After the first charging is finished, the data processing module receives the charging finishing signal and controls the distance guiding module according to the loading planning information to prompt the vehicle to move to the next designated position, in the process that a vehicle travels to the next appointed position, a distance measuring module detects the position of the vehicle and sends the distance information of the vehicle to a data processing module, the data processing module calculates the current position information and the appointed position information of the vehicle to calculate whether the vehicle moves to the appointed position, if not, the LED red-green indicating lamp module is controlled to send a signal for prompting the vehicle to travel, if yes, the LED red-green indicating lamp module is controlled to send a signal for prompting the vehicle to stop, a hopper loading system is controlled to load the vehicle positioned below a distributing device, the loading of the position of the current carriage is completed, the process is repeated, and the loading of the whole carriage is completed in multiple steps. After the loading of the whole carriage is finished, the barrier machine 13 positioned at the outlet of the material loading area is opened, and the vehicle loaded with goods drives away from the material loading area.
The data processing module is also used for receiving the material weight information, obtaining the weight of the material entering the weighing hopper 6, judging whether the weight of the material reaches the step material loading amount, and controlling the first hydraulic push rod 4 to close the feeding gate 3 if the weight of the material reaches the step material loading amount;
when the vehicle is judged to run to the specified position and the weight of the material reaches the step material carrying amount, controlling the second hydraulic push rod 21 to open the discharging gate 20 and obtain the discharging speed of the weighing hopper 6 according to the weight information of the material, if the discharging speed of the weighing hopper 6 is smaller than a first set value, starting the vibrator 5, when the discharging speed of the weighing hopper 6 is smaller than the first set value, indicating that the material is adhered to the inner wall of the weighing hopper or blocked at the outlet of the weighing hopper, starting the vibrator to vibrate the material to make the material fall, and when the weight of the material in the weighing hopper 6 is 0, judging that the material carrying of the current step is finished (a material carrying finishing signal is information that the weight of the material is 0) by the data processing module;
after receiving the charging completion signal, controlling the second hydraulic push rod 21 to close the discharge gate 20, controlling the first hydraulic push rod 4 to open the feed gate 3, receiving the weight information of the material to obtain the speed of the material entering the weighing hopper, starting the air cannon 2 if the speed of the material entering the weighing hopper is smaller than a second set value, and when the speed of the material entering the weighing hopper is smaller than the second set value, the inner wall of the buffer bin is bonded with the material or the outlet of the buffer bin is blocked, starting the air cannon to help to shake the material away so as to fall into the weighing hopper conveniently.
And further, the data processing module is also used for receiving the material weight information to obtain the weight of the material entering the weighing hopper, judging whether the difference value between the weight of the material and the material quantity of the step-loading material is smaller than a third set value, and if so, controlling the first hydraulic push rod to reduce the opening and closing degree of the feeding gate. When the difference value between the weight of the material entering the weighing hopper and the step carrying amount is judged to be smaller than a third set value, the fact that the weight of the material entering the weighing hopper is close to the step carrying amount is shown, at the moment, the data processing module controls the first hydraulic push rod to reduce the opening and closing degree of the feeding gate, the discharging speed of the feeding gate can be reduced, and the integral weighing weight can be accurately controlled. When the material is normally fed (the material enters the weighing hopper from the buffer bin through the feeding gate) or discharged (the material enters the distributor from the weighing hopper through the discharging gate), the feeding gate or the discharging gate is opened to the limit position under the pushing of the hydraulic push rod, so that the material can be rapidly fed or discharged.
Further, an LED display device 10 is also included; the LED display equipment 10 is provided with two parts which are respectively arranged above one side of the inlet and the outlet of the material loading area, the data processing module is also used for acquiring distance information from the specified position according to the calculated current position information and the specified position of the vehicle, and sending the vehicle identification information, the loading planning information and the distance information from the specified position to the LED display equipment, so that various information can be conveniently displayed for a driver through the LED display equipment, and the driver is guided to load.
Further, still have vehicle calbiration system, vehicle calbiration system includes four and installs respectively in distributing device is all around laser range finder. A single-point laser range finder is respectively installed around the distributing device and is used for measuring distance vertically, whether the vehicle deviates from the distributing device or not is judged, and the vehicle is prevented from spilling and blanking. The background program integrates various data, analyzes and calculates the optimal stepping length and the parking position of the vehicle, and carries out bidirectional verification through the data of the distance meter.
Specifically, the single-point laser range finder measures the distance vertically, and the distance between the range finder and the ground is unchanged. When the vehicle is in the channel, if the length difference measured by the four distance meters is not large, the length difference is smaller than the distance between the distance meters and the ground and is within an effective range, and the vehicle is judged not to deflect. If the length difference measured by the four distance meters is not large but is not in the effective range, judging that no vehicle exists or the vehicle roof is measured. If the distance difference between one or two of the distance meters and other distance meters is too large, the vehicle deflection is judged.
Further, the method also comprises the following steps of,
the voice broadcasting module 11 is used for broadcasting the vehicle information, the loading planning information and the distance information from the specified position so as to guide a driver to load the vehicle; the voice broadcast module adopts the network sound column and has two sets of tops that set up respectively in the entry in material loading area and one side of export in this application.
The camera module 18 is arranged above the material loading area and used for monitoring the field operation dynamic state in the material loading area in real time; in this embodiment, the camera module includes two dome cameras located at the front and rear ends above the material loading area and a bolt camera located above one side of the outlet of the material loading area.
The voice help system 9 is arranged at an inlet of the material loading area and is used for remote communication between a driver and a control room worker in the vehicle, and in the embodiment, the voice help system is an interphone.
The vehicle loading planning information processing system further comprises a wireless terminal module, the wireless terminal module is connected with the data processing module and used for sending the loading planning information to a wireless mobile terminal (such as a mobile phone) and displaying the vehicle information, the loading planning information and the distance information from a specified position to a driver through the wireless mobile terminal, and the wireless terminal module can be a Bluetooth module or a WiFi module.
The system further comprises a storage module, a display module and a display module, wherein the storage module is used for storing the live-action loading demonstration videos of different loading planning information;
the data processing module is further used for acquiring a live-action loading demonstration video corresponding to the loading planning information from the storage module according to the generated loading planning information and sending the live-action loading demonstration video to the wireless mobile terminal through the wireless terminal module. The storage module also stores vehicle information for loading planning corresponding to different vehicle types; and the material information is used for corresponding to materials to be loaded of different vehicles. And the admission information is used for verifying whether the vehicle is qualified for admission.
And further, the intelligent error correction module is used for automatically correcting errors of the data processing module and correcting errors of the running equipment. Specifically, the intelligent error correction module can be divided into an automatic error correction of the data processing module and an error correction of the running device by the data processing module. The automatic error correction of the data processing module adopts a dual-computer hot standby principle, namely two identical data processing modules simultaneously run on two servers, namely one is main and one is standby, the main server is used at ordinary times, and when the main server has problems (such as network failure, downtime, power failure and the like), a program can be automatically switched to the standby server to continue running. The error correction of the running equipment by the data processing module is that the data processing module regularly inspects the equipment, and when the equipment has problems (such as blockage, data error, connection failure and the like), the data processing module initializes and restarts the equipment. If the problem that intelligent error correction module can not solve meets, data processing module can give alarm information, reminds the staff to carry out the on-the-spot inspection.
Furthermore, when loading, the data processing module can automatically generate cache files of the running real-time state of each device and the current running state of each module, store the cache files in the server, and read the respective states in the cache files after the device is in power-down reply, and continue running in the read states.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.
Claims (10)
1. The utility model provides a step-by-step unmanned loading system which characterized in that: comprises the steps of (a) preparing a mixture of a plurality of raw materials,
the vehicle information identification module is arranged at an entrance of the material loading area and used for identifying a driven vehicle and sending identified vehicle identification information to the data processing module;
the hopper loading system is arranged at the top of the material loading area and used for loading materials to vehicles running below a material distributor of the hopper loading system and sending a material loading completion signal to the data processing module after the materials are loaded;
the distance measuring module comprises a rotary laser distance measuring instrument arranged on the side face of the front end and/or the rear end of the material loading area, and the rotary laser distance measuring instrument is used for scanning the material loading area to obtain distance information between the vehicle head or the vehicle tail and the rotary laser distance measuring instrument and sending the distance information to the data processing module;
the distance guide module comprises a plurality of LED indicating lamps which are arranged on one side of the material loading area at intervals and used for prompting the appointed position of the vehicle in advancing;
the LED traffic light module is arranged at the front end of the vehicle advancing direction and used for prompting the vehicle to advance or stop;
the data processing module is used for receiving the vehicle identification information and generating loading planning information according to the vehicle identification information, wherein the loading planning information comprises a loading step number, a loading step amount and a step loading material amount; controlling an LED indicator lamp in the distance guidance module according to the loading planning information to prompt the appointed position where the vehicle travels; receiving the distance information, calculating current position information of a vehicle according to the distance information, judging whether the vehicle runs to the specified position or not according to the current position information of the vehicle, if not, controlling the LED red-green indicating lamp module to send a signal for prompting the vehicle to advance, if so, controlling the LED red-green indicating lamp module to send a signal for prompting the vehicle to stop and controlling the hopper loading system to load the vehicle below the distributing device; and receiving the loading completion signal and controlling a distance guiding module according to the loading planning information to prompt the vehicle to move to the next designated position.
2. The step-by-step unmanned vehicle loading system of claim 1, wherein: the hopper loading system comprises a hopper loading device,
the buffer bin is used for storing the materials which are conveyed to the loading upstairs by the belt conveyor;
the air cannon is arranged on the side wall of the buffer bin and is used for vibrating the buffer bin when materials are adhered to the inner wall of the buffer bin or a material is blocked at the outlet of the buffer bin;
the feeding gate is arranged at the outlet of the buffer bin and is used for controlling the opening and closing of the outlet of the buffer bin;
the first hydraulic push rod is used for controlling the opening or closing of the feeding gate;
the weighing hopper is used for bearing the materials discharged by the buffer bin;
the weighing sensor is used for weighing the materials entering the weighing hopper to obtain material weight information and sending the material weight information to the data processing module;
the vibrator is arranged on the side wall of the weighing hopper and is used for vibrating the weighing hopper when materials are adhered to the inner wall of the weighing hopper or the outlet of the weighing hopper is blocked with the materials;
the discharging gate is used for opening when the material of the weighing hopper reaches the step material carrying amount and the vehicle moves to a specified position so as to discharge the material in the weighing hopper;
the second hydraulic push rod is used for controlling the opening or closing of the discharge gate;
and the distributing device is used for uniformly discharging the materials discharged by the discharging gate into the carriage.
3. The step-by-step unmanned vehicle loading system of claim 2, wherein: the data processing module is also used for
Receiving the material weight information to obtain the weight of the material entering a weighing hopper, judging whether the weight of the material reaches the step loading material amount, and if so, controlling the first hydraulic push rod to close the feeding gate;
when the vehicle is judged to run to the designated position and the weight of the material reaches the step material carrying amount, controlling the second hydraulic push rod to open the discharging gate and obtain the discharging speed of the weighing hopper according to the weight information of the material, and starting the vibrator if the discharging speed of the weighing hopper is smaller than a first set value;
after receiving the charging completion signal, controlling the second hydraulic push rod to close the discharging gate, controlling the first hydraulic push rod to open the feeding gate, receiving the weight information of the material to obtain the speed of the material entering the weighing hopper, and starting the air cannon if the speed of the material entering the weighing hopper is smaller than a second set value.
4. The step-by-step unmanned vehicle loading system of claim 3, wherein: the data processing module is further used for receiving the material weight information, obtaining the weight of the material entering the weighing hopper, judging whether the difference value between the weight of the material and the material carrying amount is smaller than a third set value or not, and if yes, controlling the first hydraulic push rod to reduce the opening and closing degree of the feeding gate.
5. The step-by-step unmanned vehicle loading system of claim 4, wherein: also includes an LED display device;
the data processing module is further used for obtaining distance information from the specified position according to the calculated current position information of the vehicle and the specified position, and sending the vehicle identification information, loading planning information and the distance information from the specified position to the LED display equipment.
6. The step-by-step unmanned vehicle loading system of claim 1, wherein: still have vehicle calbiration system, vehicle calbiration system includes four and installs respectively the laser range finder around the distributing device.
7. The step-by-step unmanned vehicle loading system of claim 5, wherein: also comprises the following steps of (1) preparing,
the voice broadcasting module is used for broadcasting the vehicle information, the loading planning information and the distance information from the specified position;
the camera module is arranged above the material loading area and used for monitoring the field operation dynamic state in the material loading area in real time;
and the voice help-seeking system is used for remote communication between a driver in the vehicle and a worker in the control room.
8. The step-by-step unmanned vehicle loading system of claim 5, wherein: the system also comprises a wireless terminal module which is used for sending the loading planning information to a wireless mobile terminal and displaying the vehicle information, the loading planning information and the distance information from the appointed position to a driver through the wireless mobile terminal.
9. The step-by-step unmanned vehicle loading system of claim 1, wherein: the system also comprises a storage module, a real scene loading demonstration video and a real scene loading demonstration video, wherein the storage module is used for storing different loading planning information;
the data processing module is further used for acquiring a live-action loading demonstration video corresponding to the loading planning information from the storage module according to the generated loading planning information and sending the live-action loading demonstration video to the wireless mobile terminal through the wireless terminal module.
10. The step-by-step unmanned vehicle loading system of claim 1, wherein: the intelligent error correction module is used for automatically correcting errors of the data processing module and correcting errors of the running equipment.
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