CN114873310B - Automatic loading method for loading building and loading building - Google Patents
Automatic loading method for loading building and loading building Download PDFInfo
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- CN114873310B CN114873310B CN202210520161.8A CN202210520161A CN114873310B CN 114873310 B CN114873310 B CN 114873310B CN 202210520161 A CN202210520161 A CN 202210520161A CN 114873310 B CN114873310 B CN 114873310B
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- 238000011068 loading method Methods 0.000 title claims abstract description 178
- 238000007599 discharging Methods 0.000 claims abstract description 128
- 239000000463 material Substances 0.000 claims abstract description 110
- 238000004891 communication Methods 0.000 claims description 23
- 238000013135 deep learning Methods 0.000 claims description 19
- 238000005303 weighing Methods 0.000 claims description 16
- 229910000831 Steel Inorganic materials 0.000 claims description 11
- 238000000034 method Methods 0.000 claims description 11
- 230000008569 process Effects 0.000 claims description 11
- 239000010959 steel Substances 0.000 claims description 11
- 238000012549 training Methods 0.000 claims description 6
- 230000003139 buffering effect Effects 0.000 claims description 3
- 230000001276 controlling effect Effects 0.000 description 15
- 238000010586 diagram Methods 0.000 description 3
- 230000003068 static effect Effects 0.000 description 2
- 238000012546 transfer Methods 0.000 description 2
- 238000004364 calculation method Methods 0.000 description 1
- 125000004122 cyclic group Chemical group 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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- 230000008092 positive effect Effects 0.000 description 1
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Classifications
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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
- B65G67/00—Loading or unloading vehicles
- B65G67/02—Loading or unloading land vehicles
- B65G67/04—Loading land vehicles
- B65G67/06—Feeding articles or materials from bunkers or tunnels
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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
- B65G69/00—Auxiliary measures taken, or devices used, in connection with loading or unloading
- B65G69/006—Centring or aligning a vehicle at a loading station using means not being part of the vehicle
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T30/00—Transportation of goods or passengers via railways, e.g. energy recovery or reducing air resistance
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- Aviation & Aerospace Engineering (AREA)
- Loading Or Unloading Of Vehicles (AREA)
Abstract
The invention discloses an automatic loading method of a loading building and the loading building, wherein a gate closing position, a gate opening position and a discharging position are set, which are different positions set along the driving direction; setting a height threshold value of materials in a train carriage; acquiring the relative position relation between the front side and the opening position and the discharging position; when the front side is positioned in front of the opening position in the driving direction and behind the discharging position, the flow flashboard is controlled to be opened; when the current vehicle side is positioned in front of the discharging position in the driving direction, the control quantity bin flashboard is opened; acquiring the relative position relation between the rear vehicle side and the gate closing position and the gate opening position; when the rear side is positioned in front of the gate closing position in the driving direction and behind the gate opening position, the flow gate is controlled to be closed; acquiring the height of the material and comparing the height with a height threshold; when the material height is larger than the upper limit value of the height threshold value, controlling the flow flashboard to reduce the opening; and when the material height is smaller than the lower limit value of the height threshold value, controlling the flow flashboard to increase the opening. And the loading efficiency and the loading quality are improved.
Description
Technical Field
The invention belongs to the technical field of railway freight, and particularly relates to an automatic loading method of a loading building and the loading building.
Background
The loading building is mechanical equipment for carrying out rapid and quantitative loading on bulk cargoes, and has the advantages of accurate metering, balanced loading, high speed, high efficiency and the like. Because of adopting a static weighing mode, the theoretical weighing error can be controlled to be about one thousandth, and the dynamic weighing modes such as the railway track scale and the like used in the past are greatly exceeded.
The loading building generally comprises a steel structure tower, a top belt layer, a buffer bin layer, a quantitative bin layer and a ground equipment layer, wherein the steel structure tower spans over a railway. The material that comes through the transport of top belt layer is temporarily deposited in the surge bin, when the train needs the loading, through the flashboard below the surge bin with the material transfer to the ration storehouse inside, respectively be provided with weighing sensor in four strong points below in the ration storehouse for the material weight of ration storehouse is transferred in the measurement, reaches the loading weight back, closes the surge bin flashboard, transfers the material of measuring to the train carriage, accomplishes the loading operation, simultaneously, stores the material weight of weighing in the loading building system in the database of loading each time, so as to produce final loading data sheet.
The existing loading process is that an operator of a loading building operates a button for cyclic bearing to weigh materials needing to be loaded into a railway carriage; when a carriage starts to pass through the lower part of the chute of the ground equipment layer, a circulating bearing button is pressed, a flashboard below the quantitative bin is opened, and the metered materials are put into the chute; opening a flow flashboard on the chute, and loading materials into a carriage; the opening and closing degree of the flow flashboard is continuously adjusted according to the loading experience in the loading process, the weight of the rest materials in the quantitative bin is observed, the uniformity of loading the materials into the carriage is ensured, all the materials can be loaded into the carriage when the carriage completely passes through the lower part of the chute, and the opening degree of the flow flashboard is required to be opened to the maximum when the carriage completely passes through the lower part of the chute, so that all the materials are ensured to be loaded into the carriage; before the lower carriage enters below the chute, the flow flashboard is closed to a proper position. The operator is required to keep higher concentration in the loading operation of the train, each carriage loading operation is required to constantly observe whether the materials in the carriage are uniform or not, meanwhile, the weight of the materials in the quantitative bin is also required to be observed, and the opening and closing degree of the flow flashboard is continuously adjusted according to the operation experience, so that the materials are uniformly loaded into the carriage. When the flow flashboard is continuously regulated, a button for circulating bearing is pressed before each train is loaded, and the materials to be loaded in the next train are weighed. Therefore, operators of the loading building not only need to have higher operation level and operation experience, but also have higher requirements on fault tolerance rate, longer operation time and heavy operation load.
Disclosure of Invention
The invention provides an automatic loading method of a loading building and the loading building.
In order to solve the technical problems, the invention is realized by adopting the following technical scheme:
an automatic loading method for loading a car building, comprising the following steps:
respectively setting a gate closing position, a gate opening position and a discharging position, which are different positions set in sequence along the driving direction relative to the chute; setting a height threshold value of materials in a train carriage;
automatically acquiring the relative position relation between the position of the front side of the train carriage, the brake opening position and the discharging position in real time; when the front side is positioned in front of the opening position in the running direction and the discharging position is positioned behind the opening position in the running direction, controlling the flow flashboard to open; when the front vehicle side is positioned in front of the discharging position in the driving direction, a control quantity bin flashboard is opened, and discharging is implemented;
automatically acquiring the relative position relation between the position of the rear side of the train carriage and the gate closing position and the gate opening position in real time; when the rear vehicle side is positioned in front of the gate closing position in the driving direction and behind the gate opening position in the driving direction, the flow gate is controlled to be closed;
automatically acquiring the height of the material in the train carriage in real time and comparing the height of the material with the height threshold value; when the material height is larger than the upper limit value of the height threshold value, controlling the flow flashboard to reduce the opening; and when the material height is smaller than the lower limit value of the height threshold value, controlling the flow flashboard to increase the opening.
In some embodiments, the loading floor automatic loading method further comprises:
setting a discharging auxiliary position, wherein the discharging auxiliary position is positioned in front of the discharging position in the driving direction;
acquiring the relative position relation between the position of the front side and the discharging position and the discharging auxiliary position; when the front side is positioned in front of the discharging position in the driving direction and the discharging auxiliary position is positioned behind the front side in the driving direction, the quantitative bin flashboard is controlled to be opened, and discharging is implemented.
In some embodiments, detecting the weight of the material in the quantitative bin in real time in the discharging process to obtain the discharging speed;
calculating the residual discharging time according to the residual materials and the discharging speed;
obtaining the remaining driving time according to the speed, the carriage length and the driving time of the train carriage;
comparing the residual discharging time with the residual driving time; when the residual discharging time is longer than the residual driving time, controlling the opening degree of the flow flashboard to be increased; and when the discharging time is smaller than the remaining driving time, controlling the opening degree of the flow flashboard to be reduced.
In some embodiments, the loading floor automatic loading method further comprises:
and controlling the maximum opening degree of the flow gate to be opened before controlling the flow gate to be closed.
In some embodiments, the loading floor automatic loading method further comprises:
the front side, the rear side and the material height are all identified through training of a machine deep learning algorithm;
the relative position relation between the position of the front side and the opening position and the relative position relation between the position of the discharging position are obtained, the relative position relation between the position of the rear side and the closing position and the opening position are obtained, and the material height in the train carriage is obtained to identify and judge the video stream shot by a camera through machine deep learning training.
In some embodiments, the loading floor automatic loading method further comprises:
setting a vehicle model database corresponding to the vehicle model and the rated load;
the train carriage type to be loaded is identified through a train type identification device, the rated load of the corresponding train type is searched in the train type database, and the counterweight of the quantitative bin is automatically configured.
In some embodiments, the loading floor automatic loading method further comprises:
inputting the determined forbidden number of vehicles to form a forbidden number database;
identifying the train number of the train carriage to be loaded by a train number identification device, and comparing the forbidden train number database; and when the car number is the forbidden car number, the counterweight of the quantitative bin corresponding to the car number is automatically configured to be 0.
In some embodiments, the weight of the material in the quantitative bin is measured in real time when the buffer bin gate is opened to discharge the material into the quantitative bin;
and when the rated load is close to the configured rated load, reducing the opening of the surge bin flashboard, repeatedly closing and opening the surge bin flashboard, and judging whether the rated load is reached according to the weight of the material when the surge bin flashboard is closed.
The loading building for loading by using the loading building automatic loading method comprises the following steps:
a PLC (programmable logic controller) for setting a related gate position, a gate opening position, a discharging position and a height threshold;
the first camera is arranged corresponding to the position of the train carriage entering the loading building and is in communication connection with the PLC, and shoots a first video stream and transmits the first video stream to the PLC; the PLC judges the position of a front vehicle side in each frame of the first video stream through a machine deep learning algorithm, and judges the relative position relation between the position of the front vehicle side and the opening position and the discharging position; when the front side is positioned between the opening position and the placing position, the flow flashboard is controlled to be opened;
the second camera is arranged corresponding to the position of the train carriage entering the loading building and is in communication connection with the PLC, and shoots a second video stream and transmits the second video stream to the PLC; the PLC judges the position of a front vehicle side in each frame of the second video stream through a machine deep learning algorithm, and judges the relative position relation between the position of the front vehicle side and the discharging position; when the front side is positioned in front of the discharging position in the driving direction, controlling a quantitative bin flashboard to open;
the third camera is arranged corresponding to the position of the railway carriage leaving the loading building and is in communication connection with the PLC, and shoots a third video stream and transmits the third video stream to the PLC; the PLC judges the position of a rear vehicle side in each frame of the third video stream through a machine deep learning algorithm, and judges the relative position relation between the position of the rear vehicle side and the gate closing position and the gate opening position; when the rear vehicle side is positioned between the gate closing position and the gate opening position, the flow gate plate is controlled to be closed;
the fourth camera is correspondingly arranged in the railway carriage, is in communication connection with the PLC and is used for shooting a fourth video stream and transmitting the fourth video stream to the PLC; and the PLC judges the material height in each frame of the fourth video stream through a machine deep learning algorithm, compares the material height with the height threshold value, and controls the opening of the flow flashboard according to a comparison result.
In some embodiments, the loading building further comprises a vehicle type identification device and a vehicle number identification device; setting a vehicle model database of vehicle models and corresponding rated loads in the PLC, wherein the database comprises currently used vehicle model codes and correspondingly stores the specified rated loads;
the vehicle type recognition device is a camera and is in communication connection with the PLC, and is used for photographing the vehicle type mark position of the railway carriage for a plurality of times and transmitting the obtained first photo to the PLC; the PLC performs image recognition on the first photo to extract a vehicle type code, and configures the weight of materials to be loaded in a quantitative bin according to the vehicle type code and the vehicle type database;
the train number identification device is a camera and is in communication connection with the PLC, and is used for photographing the train number mark position of the train carriage for a plurality of times and transmitting the acquired second photo to the PLC; the PLC performs image recognition on the second photo to extract a car number, and compares the car number with the input forbidden car number; and when the car number is the forbidden car number, the PLC controls the counterweight of the quantitative bin to be 0.
Compared with the prior art, the invention has the advantages and positive effects that: according to the automatic loading method and the loading building, the opening position, the discharging position, the closing position and the height threshold are set, the position of the front side and the position of the rear side of the railway carriage are obtained, the relative position relation between the front side and the opening position and the discharging position, the relative position relation between the rear side and the closing position and the opening position are automatically judged, the automatic control of the flow gate plate and the quantitative bin gate plate is carried out, the automatic control of the opening and closing of the flow gate plate and the opening control of the quantitative bin gate plate are included, the automatic control of the loading according to the travelling position of the railway carriage and the automatic control of the opening of the flow gate plate according to the loading height in the carriage are realized, the loading quality of the carriage is adjusted, the full automation of loading is realized, the loading efficiency and the loading quality are improved, and the loading safety is improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of a control flow of an embodiment of an automatic loading method for loading a vehicle in a loading building according to the present invention;
FIG. 2 is a control flow diagram of an embodiment of an automated loading method for loading a vehicle in accordance with the present invention;
fig. 3 is a control flow diagram of an embodiment of an automatic loading method for loading a vehicle in a loading building according to the present invention.
Detailed Description
Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals refer to the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the drawings are illustrative and intended to explain the present invention and should not be construed as limiting the invention.
The loading building comprises a steel structure tower, a top belt, a buffer bin, a quantitative bin and ground equipment, wherein the steel structure tower spans over a railway. The buffer bin, the quantitative bin and the ground equipment are all arranged on the steel structure tower; the top belt is connected with the surge bin and used for conveying materials to be loaded to the surge bin for buffering. The quantitative bin is used for weighing the materials loaded into the railway carriage, so that the weight of the materials loaded into the railway carriage meets the requirement of the rated load of the railway carriage.
When the train carriage needs to be loaded, the materials are put down into the quantitative bin through the buffer bin flashboard below the buffer bin; a weighing sensor is arranged below the supporting point of the quantitative bin and used for measuring the weight of the materials which are put down to the quantitative bin; when the weight of the materials in the quantitative bin reaches the loading weight, closing a buffer bin flashboard; the ground equipment comprises a discharging chute, wherein the discharging chute is positioned below the quantitative bin, one end of the discharging chute is connected with the quantitative bin, and the other end of the discharging chute is provided with a flow flashboard, and the discharging chute is positioned above the train carriage and is used for discharging materials into the train carriage.
When the railway carriage moves to the lower part of the quantitative bin, the flow flashboard and the quantitative bin flashboard are opened, and the materials in the metered quantitative bin are lowered into the railway carriage, so that the loading operation is completed.
Referring to fig. 1, 2 and 3, the automatic loading method for loading buildings according to the present invention comprises the following steps.
Respectively setting a gate closing position, a gate opening position and a discharging position, which are different positions set in sequence along the driving direction relative to the chute; that is, the gate closing position, the gate opening position, and the discharge position are located near the chute and are distributed in the traveling direction in order, and each position may be a set virtual position or an actual position for determining whether the railway carriage enters the working area and exits the working area.
Setting a height threshold value of materials in a train carriage; since the loading process of the railway carriage is a dynamic one-time assembly loading process, namely, the chute is one-time unloading of the passing railway carriage in the process of the railway carriage walking along the length direction, the height of the loaded material is required to be detected and used as a reference for adjusting the subsequent loading operation. The height threshold is the range of the material height meeting the loading requirement of the railway carriage, and is compared with the actual material height to judge whether the loading uniformity meets the loading requirement.
In the loading process of the train carriage, the relative position relation between the position of the front side of the train carriage, the opening position and the discharging position is automatically obtained in real time; when the front side of the front side is positioned in front of the opening position in the running direction and the discharging position is positioned behind the opening position in the running direction, controlling the flow flashboard to open so as to prepare for discharging; when the front side of the front side is positioned in front of the discharging position in the driving direction, the quantitative bin flashboard is controlled to be opened, and discharging is implemented.
In the discharging process, automatically acquiring the relative position relation between the position of the rear side of the railway carriage and the gate closing position and the gate opening position in real time; when the rear side is positioned in front of the gate closing position in the driving direction and behind the gate opening position in the driving direction, the flow gate is controlled to be closed.
In the process of discharging, automatically acquiring the height of the material in the train carriage in real time and comparing the height of the material with a height threshold value; when the material height is larger than the upper limit value of the height threshold value, controlling the flow flashboard to reduce the opening; and when the material height is smaller than the lower limit value of the height threshold value, controlling the flow flashboard to increase the opening.
Referring to fig. 1, 2 and 3, a loading building for loading by using the loading building automatic loading method according to the present invention includes a PLC, a first camera, a second camera, a third camera and a fourth camera.
The PLC sets a related gate position, a gate opening position, a discharging position and a height threshold.
The first camera is arranged corresponding to the position of the train carriage entering the loading building and is in communication connection with the PLC, and shoots a first video stream and transmits the first video stream to the PLC; the PLC judges the position of a front vehicle side in each frame of the first video stream through a machine deep learning algorithm, and judges the relative position relation between the position of the front vehicle side and the set opening position and the set discharging position; when the current vehicle side is positioned between the opening position and the discharging position, the flow flashboard is controlled to be opened, and discharging is prepared.
The second camera is arranged corresponding to the position of the train carriage entering the loading building and is in communication connection with the PLC, and shoots a second video stream and transmits the second video stream to the PLC; the PLC judges the position of the front vehicle side in each frame of the second video stream through a machine deep learning algorithm, and judges the relative position relation between the position of the front vehicle side and the set discharging position; when the front side of the front side is positioned in front of the discharging position in the driving direction, the quantitative bin flashboard is controlled to be opened, and discharging is implemented.
The third camera is arranged corresponding to the position of the train carriage leaving the loading building and is in communication connection with the PLC, and shoots a third video stream and transmits the third video stream to the PLC; the PLC judges the position of the rear vehicle side in each frame of the third video stream through a machine deep learning algorithm, and judges the relative position relation between the position of the rear vehicle side and the gate closing position and the gate opening position; and when the rear side is positioned between the gate closing position and the gate opening position, the flow gate plate is controlled to be closed, and the discharging is finished.
The fourth camera is arranged in the corresponding shooting train carriage and is in communication connection with the PLC, and shooting a fourth video stream is transmitted to the PLC; the PLC judges the material height in each frame of the fourth video stream through a machine deep learning algorithm, compares the material height with a height threshold value, and controls the opening of the flow flashboard according to a comparison result.
According to the automatic loading method and the loading building, the opening position, the discharging position, the closing position and the height threshold are set, the position of the front side and the position of the rear side of the railway carriage are obtained, the relative position relation between the front side and the opening position, the relative position relation between the rear side and the closing position and the opening position are automatically judged, the automatic control of the flow gate plate and the quantitative bin gate plate is carried out, the automatic control of the loading according to the running position of the railway carriage and the automatic control of the opening of the flow gate plate according to the loading height in the railway carriage are realized, the full automation of loading is realized, the loading efficiency and the loading quality are improved, and the loading safety is improved.
According to some embodiments of the present invention, referring to fig. 1, 2 and 3, the loading building further includes a surge bin gate driving device, a quantitative bin gate driving device and a flow gate driving device, which are respectively connected with the surge bin gate, the quantitative bin gate and the flow gate, are respectively electrically connected with the PCL, and are controlled to be opened, closed and adjusted in opening degree by the PLC.
According to some embodiments of the present invention, referring to fig. 1, 2, and 3, the first camera, the second camera, and the third camera provided on the loading floor may share one camera or two cameras.
According to some embodiments of the present invention, referring to fig. 1, 2 and 3, the loading method for loading a car in a car building further comprises the following steps.
Setting a discharging auxiliary position; the auxiliary discharging position is positioned in front of the discharging position in the driving direction.
Acquiring the relative position relation between the position of the front side and the discharging position and the discharging auxiliary position in real time; when the front side of the front side is positioned in front of the discharging position in the driving direction and the discharging auxiliary position is positioned behind the front side in the driving direction, the quantitative bin flashboard is controlled to be opened, and discharging is implemented.
In the embodiment of the loading building, the PLC is provided with a discharging auxiliary position, and a second video stream is shot by a second camera and transmitted to the PLC; and the PLC judges the relative position relation between the front side and the discharging position and the relative position between the front side and the discharging auxiliary position according to the second video stream, and the automatic loading method is used.
According to the loading building automatic loading method and loading building, the loading auxiliary position is set, so that the loading time is judged through double boundaries, the judgment accuracy is improved, and the loading reliability is improved.
According to some embodiments of the invention, referring to fig. 1, 2 and 3, the weight of the material in the quantitative bin is detected in real time in the discharging process, and the discharging speed is obtained. Calculating the residual discharging time according to the residual materials and the discharging speed; obtaining the remaining driving time according to the speed, the length and the driving time of the train carriage; comparing the residual discharging time with the residual driving time; when the residual discharging time is longer than the residual driving time, controlling the opening degree of the flow flashboard to be increased; when the discharging time is smaller than the remaining driving time, the opening degree of the flow flashboard is controlled to be reduced.
Specifically, the weight difference between adjacent detection time sequences is calculated by detecting the weight of materials in the quantitative bin; and calculating the discharging speed according to the weight difference and the time sequence difference. The weight of the materials in the quantitative bin detected in real time is the weight of the residual materials in the quantitative bin; and obtaining the residual discharging time by dividing calculation according to the weight of the residual materials in the quantitative bin and the discharging speed. Calculating the remaining running time of the train carriage according to the running speed of the train, the length of the train carriage and the running time; i.e. how long the remaining length of the railway car still takes to leave the loading bay. And then the opening degree of the flow flashboard is adjusted through the comparison result of the residual discharging time and the residual running time.
The weighing sensor of the loading building is in communication connection with the PLC; the PLC is configured to calculate and compare the remaining time of discharging and the remaining driving time, so that the automatic loading method is used for loading.
According to the automatic loading method and the loading building, the opening degree of the flow flashboard is adjusted through the comparison result of the residual time of discharging and the residual running time, so that when the residual running time is used up, discharging is completed simultaneously, the uniformity and the reliability of discharging operation are further improved, and the loading quality is improved.
According to some embodiments of the invention, referring to fig. 1, 2 and 3, the loading method further includes controlling a maximum opening of the flow gate before controlling the flow gate to close between the gate closing position and the gate opening position after detecting that the rear side is located.
The loading building is provided with the automatic loading method.
According to the automatic loading method for the loading building and the loading building, the maximum opening of the loading building is controlled before closing the flow flashboard and discharging is finished, materials in the chute are guaranteed to be fully placed in corresponding railway carriages, the materials in the metered quantitative bin are guaranteed to be fully placed in the corresponding railway carriages, and errors between the weight count of the materials in the railway carriages and the actual weight of the materials in the railway carriages are reduced.
According to some embodiments of the invention, referring to fig. 1, 2 and 3, the recognition of the front side, the rear side and the material height in the automatic loading method of the loading building is realized through training of a machine deep learning algorithm.
The relative position relation of the position of the front side and the opening position and the discharging position, the relative position relation of the position of the rear side and the closing position and the opening position and the material height in the train carriage are all acquired, and the video stream shot by the camera is identified and judged in real time through machine deep learning training.
Specifically, by defining a picture or video stream of the position relationship between the set front side and the opening position and the position of the discharging position, which are shot by a camera, and defining a picture or video stream of the position relationship between the set rear side and the opening position and the position of the closing position, which are shot by the camera, the PLC acquires the position relationship meeting the control conditions, and identifies and judges the picture or video stream shot by the camera according to the acquired control conditions.
The loading building of the invention uses the automatic loading method.
According to the automatic loading method and the loading building, a machine deep learning algorithm is used, so that the implementation difficulty is reduced, and the judgment precision is improved.
According to some embodiments of the present invention, referring to fig. 1, 2 and 3, the loading method for loading a car in a car building further comprises the following steps.
A vehicle model database including each vehicle model and a rated load corresponding to each vehicle model is set. The vehicle model includes the existing vehicle model of the railway carriage.
The train type recognition device is used for recognizing the train carriage to be loaded, searching the rated load of the corresponding train type in the train type database, and automatically configuring the counterweight of the quantitative bin.
The loading building comprises a vehicle type recognition device which is in communication connection with a PLC and is used for recognizing the vehicle type; the loading building uses the automatic loading method.
According to the automatic loading method for the loading building and the loading building, the vehicle type is automatically identified through equipment, the material weight of the quantitative bin is automatically configured according to the vehicle type, and the weighing efficiency and the weighing accuracy are improved.
According to some embodiments of the present invention, referring to fig. 1, 2 and 3, the loading method for loading a car in a car building further comprises the following steps.
And inputting the confirmed forbidden number of vehicles to form a forbidden number database.
Identifying the train number of the train carriage to be loaded by a train number identification device, and comparing the forbidden train number database; when the car number is the forbidden car number, the counterweight of the quantitative bin corresponding to the car number is automatically configured to be 0, and the quantitative bin gate plate and the flow gate plate are kept to be closed or the control of the quantitative bin gate plate and the flow gate plate is canceled.
The loading building comprises a car number identification device which is in communication connection with a PLC and is used for identifying the car number; the loading building uses the automatic loading method.
According to the loading building automatic loading method and loading building, the forbidden car number database is formed by inputting the forbidden car number, and the forbidden car number of each train carriage in loading operation is identified by the car number identification device, so that the problems of large resolution difficulty and misoperation after misoperation caused by late forbidden car number notification and random distribution are solved. The operation difficulty and the operation intensity are reduced, and the operation efficiency and the reliability are improved.
According to some embodiments of the present invention, referring to fig. 1, 2 and 3, the vehicle type recognition device is a camera, which is in communication connection with the PLC, and is configured to take a plurality of photographs of a vehicle type mark position of a railway carriage and transmit the obtained first photograph to the PLC; and the PLC performs image recognition on the first photo to extract a model code, and configures the weight of the material to be loaded in the quantitative bin according to the model code and the model database.
The train number identification device is a camera which is in communication connection with the PLC and is used for photographing the train number mark position of the train carriage for a plurality of times and transmitting the acquired second photo to the PLC; the PLC performs image recognition on the second photo to extract the car number, and compares the car number with the input forbidden car number; when the car number is the forbidden car number, the PLC controls the counterweight of the quantitative bin to be 0.
According to some embodiments of the invention, referring to fig. 1, 2 and 3, the weight of the material in the quantitative bin is measured in real time when the buffer bin gate is opened to discharge the material into the quantitative bin.
When the weight of the materials in the quantitative bin is close to the configured rated load, controlling to reduce the opening of the buffer bin gate, and repeatedly closing the buffer bin gate and opening the buffer bin gate to the small opening; judging whether the rated load is reached or not according to the weight of the materials when the buffer bin flashboard is closed.
The loading building of the invention uses the automatic loading method.
According to the automatic loading method for the loading building and the loading building, whether the weight of the material metered in the quantitative bin reaches the standard or not is judged according to the data obtained through static weighing, the accuracy is improved, and the accuracy of the weight of the material in the train carriage is improved.
In the description of the present invention, it should be understood that the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present invention, the meaning of "plurality" means at least two, for example, two, three, etc., unless specifically defined otherwise.
In the present invention, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly, through intermediaries, or both, may be in communication with each other or in interaction with each other, unless expressly defined otherwise. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
In the present invention, unless expressly stated or limited otherwise, a first feature "up" or "down" a second feature may be the first and second features in direct contact, or the first and second features in indirect contact via an intervening medium. Moreover, a first feature being "above," "over" and "on" a second feature may be a first feature being directly above or obliquely above the second feature, or simply indicating that the first feature is level higher than the second feature. The first feature being "under", "below" and "beneath" the second feature may be the first feature being directly under or obliquely below the second feature, or simply indicating that the first feature is less level than the second feature.
In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.
While embodiments of the present invention have been shown and described above, it will be understood that the above embodiments are illustrative and not to be construed as limiting the invention, and that variations, modifications, alternatives and variations may be made to the above embodiments by one of ordinary skill in the art within the scope of the invention.
Claims (9)
1. The automatic loading method of the loading building comprises a steel structure tower, a top belt, a buffer bin, a quantitative bin and ground equipment; the steel structure tower spans over a railway; the buffer bin, the quantitative bin and the ground equipment are all arranged on the steel structure tower; the top belt is connected with the buffer bin and used for conveying materials to be loaded to the buffer bin for buffering; the quantitative bin is used for weighing materials loaded into the railway carriage, so that the weight of the materials loaded into the railway carriage meets the requirement of the rated load of the railway carriage;
when the train carriage needs to be loaded, the buffer bin lowers the materials into the quantitative bin; the quantitative bin is provided with a weighing sensor and is used for measuring the weight of the materials which are put down to the quantitative bin; when the weight of the materials in the quantitative bin reaches the loading weight, stopping discharging the materials by the buffer bin; the ground equipment comprises a discharging chute, a flow flashboard and a discharging device, wherein the discharging chute is positioned below the quantitative bin, one end of the discharging chute is connected with the quantitative bin, and the other end of the discharging chute is provided with the flow flashboard and is positioned above a train carriage and used for discharging materials into the train carriage;
when the railway carriage moves to the lower part of the quantitative bin, the flow gate plate and the quantitative bin gate plate are opened, and the metered materials in the quantitative bin are lowered into the railway carriage;
characterized by comprising the following steps:
respectively setting a gate closing position, a gate opening position and a discharging position, which are different positions set in sequence along the driving direction relative to the chute; setting a height threshold value of materials in a train carriage;
automatically acquiring the relative position relation between the position of the front side of the train carriage, the brake opening position and the discharging position in real time; when the front side is positioned in front of the opening position in the running direction and the discharging position is positioned behind the opening position in the running direction, controlling the flow flashboard to open; when the front vehicle side is positioned in front of the discharging position in the driving direction, a control quantity bin flashboard is opened, and discharging is implemented;
automatically acquiring the relative position relation between the position of the rear side of the train carriage and the gate closing position and the gate opening position in real time; when the rear vehicle side is positioned in front of the gate closing position in the driving direction and behind the gate opening position in the driving direction, the flow gate is controlled to be closed;
automatically acquiring the height of the material in the train carriage in real time and comparing the height of the material with the height threshold value; when the material height is larger than the upper limit value of the height threshold value, controlling the flow flashboard to reduce the opening; when the material height is smaller than the lower limit value of the height threshold value, controlling the flow flashboard to increase the opening;
detecting the weight of the materials in the quantitative bin in real time in the discharging process to obtain the discharging speed;
calculating the residual discharging time according to the residual materials and the discharging speed;
obtaining the remaining driving time according to the speed, the carriage length and the driving time of the train carriage;
comparing the residual discharging time with the residual driving time; when the residual discharging time is longer than the residual driving time, controlling the opening degree of the flow flashboard to be increased; and when the discharging time is smaller than the remaining driving time, controlling the opening degree of the flow flashboard to be reduced.
2. The automated loading method of a loading floor of claim 1, further comprising:
setting a discharging auxiliary position, wherein the discharging auxiliary position is positioned in front of the discharging position in the driving direction;
acquiring the relative position relation between the position of the front side and the discharging position and the discharging auxiliary position; when the front side is positioned in front of the discharging position in the driving direction and the discharging auxiliary position is positioned behind the front side in the driving direction, the quantitative bin flashboard is controlled to be opened, and discharging is implemented.
3. The automated loading method of a loading floor of claim 1, further comprising:
and controlling the maximum opening degree of the flow gate to be opened before controlling the flow gate to be closed.
4. The automated loading method of a loading floor of claim 1, further comprising:
the front side, the rear side and the material height are all identified through training of a machine deep learning algorithm;
the relative position relation between the position of the front side and the opening position and the relative position relation between the position of the discharging position are obtained, the relative position relation between the position of the rear side and the closing position and the opening position are obtained, and the material height in the train carriage is obtained to identify and judge the video stream shot by a camera through machine deep learning training.
5. The automated loading method of a loading floor according to any one of claims 1 to 4, further comprising:
setting a vehicle model database corresponding to the vehicle model and the rated load;
the train carriage type to be loaded is identified through a train type identification device, the rated load of the corresponding train type is searched in the train type database, and the counterweight of the quantitative bin is automatically configured.
6. The automated loading method of a loading floor according to any one of claims 1 to 4, further comprising:
inputting the determined forbidden number of vehicles to form a forbidden number database;
identifying the train number of the train carriage to be loaded by a train number identification device, and comparing the forbidden train number database; and when the car number is the forbidden car number, the counterweight of the quantitative bin corresponding to the car number is automatically configured to be 0.
7. The automated loading method of a loading building according to claim 5, wherein the weight of the material in the quantitative bin is measured in real time while the buffer bin gate is opened to discharge the material to the quantitative bin;
and when the rated load is close to the configured rated load, reducing the opening of the surge bin flashboard, repeatedly closing and opening the surge bin flashboard, and judging whether the rated load is reached according to the weight of the material when the surge bin flashboard is closed.
8. A loading tower for loading using the loading automatic loading method of any one of claims 1 to 7, comprising a steel structure tower, a top belt, a surge bin, a ration bin and ground equipment; the steel structure tower spans over a railway; the buffer bin, the quantitative bin and the ground equipment are all arranged on the steel structure tower; the top belt is connected with the buffer bin and used for conveying materials to be loaded to the buffer bin for buffering; the quantitative bin is used for weighing materials loaded into the railway carriage, so that the weight of the materials loaded into the railway carriage meets the requirement of the rated load of the railway carriage;
when the train carriage needs to be loaded, the buffer bin lowers the materials into the quantitative bin; the quantitative bin is provided with a weighing sensor and is used for measuring the weight of the materials which are put down to the quantitative bin; when the weight of the materials in the quantitative bin reaches the loading weight, stopping discharging the materials by the buffer bin; the ground equipment comprises a discharging chute, a flow flashboard and a discharging device, wherein the discharging chute is positioned below the quantitative bin, one end of the discharging chute is connected with the quantitative bin, and the other end of the discharging chute is provided with the flow flashboard and is positioned above a train carriage and used for discharging materials into the train carriage;
when the railway carriage moves to the lower part of the quantitative bin, the flow gate plate and the quantitative bin gate plate are opened, and the metered materials in the quantitative bin are lowered into the railway carriage;
characterized by further comprising:
a PLC (programmable logic controller) for setting a related gate position, a gate opening position, a discharging position and a height threshold;
the first camera is arranged corresponding to the position of the train carriage entering the loading building and is in communication connection with the PLC, and shoots a first video stream and transmits the first video stream to the PLC; the PLC judges the position of a front vehicle side in each frame of the first video stream through a machine deep learning algorithm, and judges the relative position relation between the position of the front vehicle side and the opening position and the discharging position; when the front side is positioned between the opening position and the placing position, the flow flashboard is controlled to be opened;
the second camera is arranged corresponding to the position of the train carriage entering the loading building and is in communication connection with the PLC, and shoots a second video stream and transmits the second video stream to the PLC; the PLC judges the position of a front vehicle side in each frame of the second video stream through a machine deep learning algorithm, and judges the relative position relation between the position of the front vehicle side and the discharging position; when the front side is positioned in front of the discharging position in the driving direction, controlling a quantitative bin flashboard to open;
the third camera is arranged corresponding to the position of the railway carriage leaving the loading building and is in communication connection with the PLC, and shoots a third video stream and transmits the third video stream to the PLC; the PLC judges the position of a rear vehicle side in each frame of the third video stream through a machine deep learning algorithm, and judges the relative position relation between the position of the rear vehicle side and the gate closing position and the gate opening position; when the rear vehicle side is positioned between the gate closing position and the gate opening position, the flow gate plate is controlled to be closed;
the fourth camera is correspondingly arranged in the railway carriage, is in communication connection with the PLC and is used for shooting a fourth video stream and transmitting the fourth video stream to the PLC; the PLC judges the material height in each frame of the fourth video stream through a machine deep learning algorithm, compares the material height with the height threshold value, and controls the opening of the flow flashboard according to a comparison result;
the weighing sensor is in communication connection with the PLC; the PLC is configured to obtain a discharging speed according to the weight difference between time sequences of the weight of the materials in the quantitative bin; calculating the residual discharging time according to the weight of the residual materials and the discharging speed; obtaining the remaining driving time according to the speed, the carriage length and the driving time of the train carriage; comparing the residual discharging time with the residual driving time; when the residual discharging time is longer than the residual driving time, controlling the opening degree of the flow flashboard to be increased; and when the discharging time is smaller than the remaining driving time, controlling the opening degree of the flow flashboard to be reduced.
9. The loading floor according to claim 8, further comprising a vehicle model recognition device, a vehicle number recognition device; setting a vehicle model database of vehicle models and corresponding rated loads in the PLC, wherein the database comprises currently used vehicle model codes and correspondingly stores the specified rated loads;
the vehicle type recognition device is a camera and is in communication connection with the PLC, and is used for photographing the vehicle type mark position of the railway carriage for a plurality of times and transmitting the obtained first photo to the PLC; the PLC performs image recognition on the first photo to extract a vehicle type code, and configures the weight of materials to be loaded in a quantitative bin according to the vehicle type code and the vehicle type database;
the train number identification device is a camera and is in communication connection with the PLC, and is used for photographing the train number mark position of the train carriage for a plurality of times and transmitting the acquired second photo to the PLC; the PLC performs image recognition on the second photo to extract a car number, and compares the car number with the input forbidden car number; and when the car number is the forbidden car number, the PLC controls the counterweight of the quantitative bin to be 0.
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| CN202210520161.8A CN114873310B (en) | 2022-05-13 | 2022-05-13 | Automatic loading method for loading building and loading building |
| PCT/CN2023/080129 WO2023216694A1 (en) | 2022-05-13 | 2023-03-07 | Automatic loading method for loading building, and loading building |
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| CN114873310B (en) * | 2022-05-13 | 2024-03-29 | 青岛港国际股份有限公司 | Automatic loading method for loading building and loading building |
| CN117585470B (en) * | 2023-12-28 | 2024-06-25 | 山东大学 | Quantitative loading method |
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