CN107843186A - A kind of compartment loading condition detecting system and method - Google Patents
A kind of compartment loading condition detecting system and method Download PDFInfo
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- CN107843186A CN107843186A CN201610838561.8A CN201610838561A CN107843186A CN 107843186 A CN107843186 A CN 107843186A CN 201610838561 A CN201610838561 A CN 201610838561A CN 107843186 A CN107843186 A CN 107843186A
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- compartment
- pulse radar
- incident point
- height
- platform floor
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
- G01B7/02—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring length, width or thickness
- G01B7/04—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring length, width or thickness specially adapted for measuring length or width of objects while moving
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01G—WEIGHING
- G01G19/00—Weighing apparatus or methods adapted for special purposes not provided for in the preceding groups
- G01G19/02—Weighing apparatus or methods adapted for special purposes not provided for in the preceding groups for weighing wheeled or rolling bodies, e.g. vehicles
- G01G19/022—Weighing apparatus or methods adapted for special purposes not provided for in the preceding groups for weighing wheeled or rolling bodies, e.g. vehicles for weighing wheeled or rolling bodies in motion
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- General Physics & Mathematics (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The present invention, which provides compartment loading condition detecting system and method, wherein detecting system, includes the first pulse radar, the second pulse radar and controller；The scan frequency of second pulse radar is the integral multiple of the first pulse radar scan frequency；The plane of scanning motion of first pulse radar and the direct of travel in compartment are not parallel；First pulse radar is in the incident point of car body top across car body top；Direct of travel of the plane of scanning motion of second pulse radar parallel to compartment；Controller is configured with following methods：Height of the incident point relative to platform floor is calculated according to the scanning signal of the first pulse radar；Incident point is calculated in the vertical projection position of platform floor according to the scanning signal of the first pulse radar and the scanning signal of the second pulse radar；The subspace volume according to corresponding to height and vertical projection position calculate incident point；The unbalance loading state in compartment is calculated according to the vertical projection position in subspace volume and incident point, the load-carrying in compartment is calculated according to subspace volume.
Description
Technical field
The present invention relates to goods stock safety testing field, more particularly to a kind of compartment loading condition detecting system and side
Method.
Background technology
There is overload in goods stock, unbalance loading problem may have a strong impact on traffic safety.For realize truck loading state from
Dynamicization, which detects some, can realize that the occasion of automation loading matches somebody with somebody compartment loading condition detecting system.
So that goods train loads detection as an example, widely used detection technique has track scale e measurement technology at present.Rail
Whether road weighing apparatus e measurement technology weighs the railway car for loading goods using lever principle, judge compartment load-carrying in critical field.
But when, because measuring principle limits, still there are many shortcomings in use in track scale e measurement technology：It is track scale measurement first
Technology can not detect the unbalance loading state of railway car, next to that needing to carry boxcar weight in track scale weighing process, make
It is just inaccurate, it is necessary to re-calibrate with measurement result after a period of time；Again, the installation of track scale corrects sufficiently complex, single
Installation correction time is longer, has had a strong impact on that goods train loads detection.
The content of the invention
The present invention provides a kind of compartment loading condition detecting system and a kind of compartment loading condition detection method, utilizes pulse
Radar realizes the automatic detection of compartment loading condition.
The present invention provides a kind of compartment loading condition detecting system, including the first pulse radar, the second pulse radar and control
Device processed；First pulse radar and second pulse radar are connected with the controller；Second pulse radar
Scan frequency is the integral multiple of the first pulse radar scan frequency；
The plane of scanning motion of first pulse radar and the direct of travel in compartment are not parallel；First pulse radar is in car
The incident point in compartment top portion is across car body top；Direct of travel of the plane of scanning motion of second pulse radar parallel to compartment；Control
Device processed includes：
Height calculation unit, for calculating the incident point relative to institute according to the scanning signal of first pulse radar
State the height of platform floor；
Position calculation unit, for sweeping for the scanning signal according to first pulse radar and second pulse radar
Incident point described in signal of change is retouched in the vertical projection position of platform floor；
Volume computing unit, it is corresponding to calculate the incident point for the height according to the incident point and vertical projection position
Subspace volume；
Loading condition judging unit, for being calculated according to the vertical projection position of the subspace volume and the incident point
The unbalance loading state in compartment, and/or, the load-carrying in compartment is calculated according to the subspace volume.
Optionally, the controller also includes：
Computing unit is moved backward, for judging the whether reverse row in compartment according to the scanning signal of second pulse radar
Sail, and, in compartment during backward going calculate compartment reverse movement distance；
Unit is deleted, for deleting the reverse movement apart from the height in interior incident point to platform floor and in platform floor
Vertical projection position.
Optionally, the controller also includes：
First memory cell, for storing car length, box width, height of wagon, platform floor position and axletree position
Put the corresponding relation respectively with compartment model；
First car sizes computing unit, for according to the scanning signal of first pulse radar calculate box width and
Height of wagon, and, car length is calculated according to the scanning signal of second pulse radar；
Compartment model determining unit, for according to the car length, the box width, the height of wagon and described
Corresponding relation determines compartment model, and determines the platform floor position and the axle location according to the compartment model；
The height calculation unit calculates height of the incident point relative to platform floor according to the compartment model；
The loading condition judging unit is according to the vertical throwing of institute's axle location, the subspace volume and the incident point
Shadow position calculates the unbalance loading state in compartment.
Optionally, in addition to shooting part；The shooting part is connected with the controller；The controller also includes,
Second memory cell, the corresponding relation for platform floor position, axle location and compartment model；
Second compartment model determining unit, the image information for being shot according to the shooting part determine compartment model,
And the platform floor position and the axle location are determined according to the compartment model and the corresponding relation；
The height calculation unit calculates according to the scanning signal of the platform floor position and first pulse radar
The incident point relative to platform floor height；
The loading condition judging unit is vertical according to the axle location, the subspace volume and the incident point
Projected position calculates the unbalance loading state in compartment.
Optionally, direct of travel of the plane of scanning motion of first pulse radar perpendicular to compartment.
The present invention provides a kind of compartment loading condition detection method, applied to compartment loading condition detecting system；The system
System includes the first pulse radar, the second pulse radar and controller；First pulse radar and second pulse radar are equal
It is connected with the controller；The scan frequency of second pulse radar is the integral multiple of the first pulse radar scan frequency；
The plane of scanning motion of first pulse radar and the direct of travel in compartment are not parallel；First pulse radar is in car
The incident point in compartment top portion is across car body top；Direct of travel of the plane of scanning motion of second pulse radar parallel to compartment；Institute
State controller and be configured with following methods：
Height of the incident point relative to platform floor is calculated according to the scanning signal of first pulse radar；
The throwing is calculated according to the scanning signal of first pulse radar and the scanning signal of second pulse radar
Exit point is in the vertical projection position of platform floor；
The subspace volume according to corresponding to the height and the vertical projection position calculate the incident point；
The unbalance loading state in compartment is calculated according to the vertical projection position in the subspace volume and the incident point, and/or,
The load-carrying in compartment is calculated according to the subspace volume.
Optionally, in methods described：According to corresponding to the height and the vertical projection position calculate the incident point
Also include before the volume of subspace,
According to the scanning signal of second pulse radar judge compartment whether backward going；
In compartment during backward going, the reverse movement distance in compartment is calculated, deletes the reverse movement apart from interior incident point
Height and vertical projection position relative to platform floor.
Optionally, methods described also includes：
Box width and height of wagon are calculated according to the scanning signal of first pulse radar, according to second pulse
The scanning signal of radar calculates car length；
Compartment model is determined according to the car length, the box width and the height of wagon, according to compartment model
Determine platform floor position and axle location；
The throwing is calculated according to the scanning signal of first pulse radar and the scanning signal of second pulse radar
The vertical projection position of exit point is specially：Calculated according to the scanning signal of the platform floor position and first pulse radar
The incident point relative to platform floor height；
According to the vertical projection position in the subspace volume and the incident point calculate compartment unbalance loading state be specially；
The unbalance loading state in compartment is calculated according to the vertical projection position of the axle location, the subspace volume and the incident point.
Optionally, the compartment loading condition detecting system also includes shooting part；Methods described also includes,
Compartment model is determined according to the image information that the shooting part is shot, compartment bottom is determined according to the vehicle model
Board position and axle location；
The throwing is calculated according to the scanning signal of first pulse radar and the scanning signal of second pulse radar
The vertical projection position of exit point is specially：Calculated according to the scanning signal of the platform floor position and first pulse radar
The incident point relative to platform floor height；
According to the vertical projection position in the subspace volume and the incident point calculate compartment unbalance loading state be specially；
The unbalance loading state in compartment is calculated according to the vertical projection position of the axle location, the subspace volume and the incident point.
Compartment loading condition detecting system and detection method provided by the invention, according to the first pulse radar in car body top
Compartment is divided into each sub-spaces by the incident point position of formation, and according to each sub-spaces volume and forms each sub-spaces
Vertical projection position of the incident point on platform floor calculates the unbalance loading state in compartment, calculates compartment according to each sub-spaces stereometer
Load-carrying, realize the automatic detection of compartment loading condition.
Brief description of the drawings
To be illustrated more clearly that background technology or technical scheme, below to prior art or embodiment
The accompanying drawing of middle combined use is briefly described；It should be evident that the accompanying drawing side of being only for below in conjunction with embodiment
Just understand the embodiment of the present invention, for those of ordinary skill in the art, on the premise of not paying creative work, may be used also
To obtain other accompanying drawings according to these accompanying drawings；
Fig. 1 is an embodiment compartment loading condition detecting system application scenarios schematic diagram；
Fig. 2 is an embodiment compartment loading condition detection method flow chart；
Fig. 3 is that compartment subspace loads stress diagram after coal；
Fig. 4 is an embodiment compartment loading condition detecting system schematic diagram；
Fig. 5 is a preferred embodiment compartment loading condition detection method flow chart；
Fig. 6 is a preferred embodiment compartment loading condition detecting system schematic diagram；
Fig. 7 is a preferred embodiment compartment loading condition detection method flow chart；
Fig. 8 is a preferred embodiment compartment loading condition detecting system schematic diagram；
Fig. 9 is a preferred embodiment compartment loading condition detecting system schematic diagram；
Figure 10 is a preferred embodiment compartment loading condition detection method flow chart；
Figure 11 is another embodiment compartment loading condition detecting system application scenarios schematic diagram；
Wherein：The pulse radars of 1- first, the pulse radars of 2- second, 3- controllers, 31- height calculation units, 32- positions meter
Calculation unit, 33- volumes computing unit, 34- loading conditions judging unit, 35- move backward computing unit, 36- deletes unit,
The memory cell of 37- first, the first car sizes of 38- computing unit, the first compartments of 39- model determining unit, 310- second are stored
Unit, the second compartments of 311- model determining unit, 312- display units, 4- shooting parts, 5- truck-loading facilities, 6- portal frames.
Embodiment
The present invention provides a kind of system and method for detecting compartment unbalance loading state, is obtained using pulse radar scanning compartment
Scanning signal determines the loading condition in compartment.Below in conjunction with the accompanying drawing in the embodiment of the present invention, in the embodiment of the present invention
Technical scheme is described in detail.
Fig. 1 is an embodiment compartment loading condition detecting system application scenarios schematic diagram.Such as Fig. 1, what the present embodiment provided
The loading that goods train loading condition detecting system is applied to carriage of freight train detects.Loaded coal compartment travel to
When compartment is loaded under detecting system, the pulse radar scanning compartment in detecting system is loaded, obtains the coal seam of compartment regional
Altitude information, the goods distribution in compartment is calculated using coal seam altitude information, compartment is then determined according to goods distribution
Loading condition.
Compartment loading condition detecting system includes the first pulse radar 1 and the second pulse radar 2；The He of first pulse radar 1
Second pulse radar 2 periodically scans for compartment, and obtains scanning signal.The plane of scanning motion and compartment of first pulse radar 1
Direct of travel it is different, and the plane of scanning motion of the first pulse radar 1 is across car body top；Compartment passes through the first pulse radar 1
The plane of scanning motion after, the first pulse radar 1 along scanning direction car body top regional formed incident point.Second pulse radar
2 plane of scanning motion parallel to compartment traffic direction, and between the 2 adjacent scan period of the second pulse radar have overlap area
Domain.In addition, the scan frequency of the second pulse radar 2 is the integral multiple of the scan frequency of the first pulse radar 1
Such as Fig. 1, in the present embodiment, portal frame being set on the upside of rail, the first pulse radar 1 is arranged on portal frame 6, so that
The plane of scanning motion is across car body top；For ease of scanning, the second pulse radar 2 is also mounted on foregoing portal frame.In addition, this implementation
In example, the direct of travel of the plane of scanning motion of the first pulse radar 1 perpendicular to compartment.
Fig. 2 is an embodiment compartment loading condition detection method flow chart, and Fig. 4 is an embodiment compartment loading condition detection
System schematic.Such as Fig. 4, compartment loading condition detecting system also includes control；The pulse radar 1 and second of controller 3 and first
Pulse radar 2 is all connected with, and can receive the scanning signal of the first pulse radar 1 and the scanning signal of the second pulse radar 2, and foundation
Scanning signal calculates the loading condition in compartment.In the embodiment of the present invention, controller 3 realizes compartment loading condition in accordance with the following methods
Detection.
S101：Height of the incident point relative to platform floor is calculated according to the scanning signal of the first pulse radar.
The projection that the radar wave irradiation car body top of the first pulse radar 1 is formed is refered in particular in described incident point in step S101
Point.After the scanning signal of the first pulse radar 1 is received, controller 3 calculates scanning element corresponding to each scanning signal
The position coordinates (x, y) of the plane of scanning motion of one pulse radar 1, wherein y represent the terrain clearance of scanning element.The subsequent basis of controller 3
The position coordinates (x, y) of adjacent scanning element calculates the distance between adjacent scanning element d1, and compare d1With the first distance threshold D's
Size：Such as the distance d of two neighboring scanning element1More than D, and the terrain clearance y of scanning element be equal to the first pulse radar 1 from
Ground level, then judge that two scanning elements are not incident point；Such as two neighboring scanning element distance d1Less than or equal to D, and sweep
The terrain clearance y of described point is much smaller than the terrain clearance of the first pulse radar 1, then judges that two scanning elements are incident points.
Because the scan frequency of the first pulse radar 1 is very high, and the transition that car body top coal surface is relatively gentle, institute
D is respectively less than with distance of first pulse radar 1 sequentially between the incident point that car body top is formed.And at compartment marginal position,
Two scanning elements of pulse radar project respectively on the ground with compartment, so the distance d of two scanning elements1Much larger than D；And
The terrain clearance y of pulse radar irradiation scanning element on the ground is substantially equivalent to the terrain clearance of pulse radar, thus by from
Ground level y can exclude to be located at the scanning element of the first pulse radar 1 on the ground.
Determine the first pulse radar 1 behind the incident point of car body top, so that it may according to each incident point in the first pulse thunder
The height of height y and platform floor up to 1 plane of scanning motion determine height h of each incident point relative to platform floor.
S102：The projection is calculated according to the scanning signal of the first pulse radar and the scanning signal of the second pulse radar 2
Point is in the vertical projection position of platform floor.
Because the scanning direction of the first pulse radar 1 is perpendicular to the direct of travel in compartment, according to incident point relative to
The coordinate (x, y) of the position of first pulse radar 1 and the first pulse radar 1 in the vertical projection position of platform floor plane just
It can determine that each incident point relative in the position of compartment horizontal direction.
As it was previously stated, the second pulse radar 2 is connected, two scan periods have scan registration region.Because car body top shape
What it is into coal surface distribution each point height is random, so each scanning element is connected to form characteristic point in scan registration region.
According to characteristic point the 2 two neighboring scan period of the second pulse radar position coordinates (z1,w1) and (z2,w2) just can determine that
Displacement of the compartment in 2 one scan periods of the second pulse radar.In addition, the sweeping according to the second pulse radar 2 of controller 3
The downside that signal may further determine that compartment front apron or rear baffle passes through the first pulse radar 1 is retouched, so according to the second pulse radar 2
Scanning signal can determine that each incident point in the position of compartment direct of travel.
It is determined that each incident point to behind the position of compartment horizontal direction and the position of direct of travel, so that it may determine each throwing
Exit point is in the vertical projection position of platform floor.
S103：The subspace volume according to corresponding to the height in incident point and vertical projection position calculate incident point.
Understand that the first pulse radar 1 is connected in the incident point of car body top and can be divided into compartment top surface according to the vision imagination
Sub- top surface one by one；Vertically by each sub- top projection on platform floor, it is empty that compartment can be divided into son one by one
Between.Because the position in each incident point according to the position in each incident point, it is known that just can determine that corresponding son in subspace
Spatial volume.
S104：The unbalance loading state in compartment is calculated according to the vertical projection position in subspace volume and incident point, according to sub empty
Between volume calculate compartment load-carrying.
In the present embodiment, it is known that the density of coal, so on the premise of known each sub-spaces volume, so that it may calculate
The weight of coal in each sub-spaces is obtained, coal weight in each sub-spaces, which is added, can try to achieve compartment load-carrying.Meanwhile
On the basis of the axle location of known cars, so that it may asked according to the weight of each sub-spaces and each sub-spaces in the position in compartment
Calculate the unbalance loading state in compartment.
Wherein, the unbalance loading state in compartment can be divided into front and rear unbalance loading state and left and right unbalance loading state.Fig. 3 is compartment subspace dress
Stress diagram after load coal, does simple introduction, compartment or so unbalance loading shape to the front and rear unbalance loading state for how calculating compartment below
State computational methods and with reference to unbalance loading state computation method before and after compartment.
Assuming that the distance of front axle to compartment front apron is La, the distance of back axle to compartment rear baffle is Lb, compartment
Length is L, the distance of front axle and back axle is Lh, the position coordinates of compartment front apron is Zs, the position coordinates of rear baffle is
Ze, center compartment position coordinates are (Zs+Ze)/2.
The support force F1+F2=ρ Vg with the coal, then two axletrees that a volume is V, while body are provided with compartment Zp
The torque that the coal that product is V is acted on compartment is (F1-F2) * Lh/2=ρ Vg* [(Zs+Ze)/2-Zp], the F1- after simplification
F2=ρ Vg* [Zs+Ze-2Zp]/(L-2Lb).By integral and calculating, compartment unbalance loading amount M caused by all areas coal in compartment
=∑ ρ Vg* [Zs+Ze-2Zp]/(L-2Lb).
By above method it is contemplated that the method for detection compartment loading condition provided by the invention is directly by measuring compartment
The coal layer height of each sub-spaces, the volume of each sub-spaces is determined according to the coal layer height of each sub-spaces, further according to
The subspace volume and each subvolumes in coal seam calculate the unbalance loading state in compartment with respect to the position of axletree.Rail is used compared to existing
Weigh measuring method in road, and this method realizes the measurement of compartment unbalance loading state；Meanwhile this method of testing can realize that non-contact type is surveyed
Amount, greatly improves convenient test.
In the present embodiment, be data processing, improve the convenience of test, the scanning direction of the first pulse radar 1 perpendicular to
Compartment direct of travel；It is contemplated that as long as the scanning direction of the first pulse radar 1 is not parallel to the traffic direction in compartment, the first arteries and veins
Rush the can of radar 1 and be respectively formed incident point in each position in compartment, so the scanning of the first pulse radar 1 in other embodiments
Direction is alternatively other directions for being not parallel to compartment traffic direction.In the present embodiment, for ease of the scanning car of the second pulse radar 2
Railway carriage or compartment travel condition, the second pulse radar 2 are also mounted at car body top；In other embodiments, the second pulse radar 2 can also be installed
The other positions in compartment can be irradiated.
As corresponding to foregoing compartment loading condition detection method, compartment loading condition detection system provided in an embodiment of the present invention
Controller 3 in system is configured with height calculation unit 31, position calculation unit 32, volume computing unit 33 and loading condition and judged
Unit 34；Wherein：Height calculation unit 31 is used to calculate the incident point phase according to the scanning signal of first pulse radar 1
For the height of the platform floor；Position calculation unit 32 is used for scanning signal and institute according to first pulse radar 1
The scanning signal for stating the second pulse radar 2 calculates the incident point in the vertical projection position of platform floor；Volume computing unit
33 are used for the subspace volume according to corresponding to the height in the incident point and vertical projection position calculate the incident point；Load shape
State judging unit 34 is used for the unbalance loading shape that compartment is calculated according to the vertical projection position in the subspace volume and the incident point
State, and the load-carrying according to subspace volume calculating compartment.
In addition, compartment loading condition monitoring system also includes display unit 312, display unit 312 calculates single according to height
Member 31 determines the position in each incident point of vertical projection position display that incident point height and position calculation unit 32 calculate
When the compartment load-carrying such as detected in some concrete application occasions or compartment unbalance loading are beyond regulation requirement, it is necessary to
Move backward and compartment is moved under truck-loading facilities 5, compartment goods is rearranged by truck-loading facilities 5, adjusts the loading condition in compartment.
Fig. 5 is a preferred embodiment compartment loading condition detection method flow chart, and Fig. 6 is that a preferred embodiment compartment loads
Condition detecting system schematic diagram, to avoid reversing from making the coal on compartment at a certain subspace repeat to count weight, the present invention one is excellent
The compartment for selecting embodiment to provide loads inspection condition detection method and calculates projection in the height according to incident point and vertical projection position
It is further comprising the steps of before subspace volume corresponding to point：
S105：According to the scanning signal of the second pulse radar judge compartment whether backward going；
S106：If compartment backward going, the reverse movement distance in compartment is calculated, deletes reverse movement apart from interior incident point phase
Height and vertical projection position for platform floor.
Specifically, judgement and the feature according to the different scanning intermittent scanning of the second pulse radar 2 of compartment backward going
Point position determines, specifically can refer to above, no longer repeats herein.It should be noted that it is to delete the corresponding projection of reverse movement distance
Height and vertical projection position of the incident point not only formed including deletion compartment in reverse movement relative to platform floor are put,
Also include deleting the incident point that was formed in the former scan period of the first pulse radar 1 relative to the height of platform floor and vertical
Projected position.
Such as Fig. 6, reference aforementioned preferred method, in the compartment loading condition detecting system that one embodiment of the present invention provides
In, controller 3 also includes reverse movement computing unit 35 and deletes unit 36；Computing unit 35 is moved backward to be used for according to second
The scanning signal of pulse radar 2 judge compartment whether backward going, and, in compartment during backward going calculate compartment reverse movement
Distance；Delete unit 36 and be used to delete the reverse movement apart from the height in interior incident point to platform floor and in platform floor
Vertical projection position.
It should be noted that above example realize compartment unbalance loading state-detection be premised on known cars model, i.e., with
Premised on the axle location and platform floor height of known cars.And there is the compartment of a variety of different models in railway freight, respectively
The platform floor height and axle location in kind model compartment are simultaneously different, therefore also need to determine actually detected compartment in actual applications
Model, the unbalance loading state in compartment could be calculated.And the length and width in different compartments and differ, it is possible to according to compartment
Length and width determine compartment model, then axle location and platform floor height are determined by compartment model.
Fig. 7 is a preferred embodiment compartment loading condition detection method flow chart, and Fig. 8 is that a preferred embodiment compartment loads
Condition detecting system schematic diagram.Such as Fig. 7 and Fig. 8, according to the characteristics of the length and width difference in different model compartment, the present invention is another
The compartment loading condition detection method that one preferred embodiment provides can also realize automatically determining for compartment model.It is specifically, another
In preferred embodiment, before incident point is calculated relative to the height of platform floor according to the scanning signal of the first pulse radar 1 also
Comprise the following steps：
S107：Box width and height of wagon are calculated according to the scanning signal of the first pulse radar, according to the second pulse thunder
The scanning signal reached calculates car length；
S108：Compartment model is determined according to car length box width and height of wagon, compartment is determined according to compartment model
Bottom plate position and axle location；
Accordingly：Step S101 is specially S1011：According to platform floor position and the scanning signal meter of the first pulse radar
Calculate height of the incident point relative to platform floor；Step S104 is specially S1041：According to axle location, subspace volume and throwing
The vertical projection position of exit point calculates the unbalance loading state in compartment.
In step s 107, the measuring method of box width and car length is with determining each incident point on platform floor
Vertical launching position method it is essentially identical, specifically can refer to and state above.
It is corresponding with aforementioned preferred method, the control in the compartment loading condition detecting system that one embodiment of the present invention provides
Device 3 processed also includes the first memory cell 37, the first car sizes computing unit 38 and the first compartment model determining unit 39.Its
In：First memory cell 37 is used to store car length, box width, height of wagon, platform floor position and axle location point
Not in the corresponding relation of compartment model；First car sizes computing unit 39 is used for the scanning signal according to the first pulse radar 1
Box width and height of wagon are calculated, and, car length is calculated according to the scanning signal of the second pulse radar 2；First compartment type
Number determining unit 39 is used to determine compartment model according to car length, box width and corresponding relation, and true according to compartment model
Determine platform floor position and axle location.
For ease of railway freight-car transporting management, the compartment that railway transportation uses is provided with left panel and right side coaming plate
Compartment is numbered and the identification information of compartment model.Figure 10 is a preferred embodiment compartment loading condition detecting system schematic diagram, figure
11 be a preferred embodiment compartment loading condition detection method flow chart.To determine compartment model using identification information, then really
Determine axle location and platform floor height, the compartment loading condition detecting system that this another preferred embodiment provides also includes shooting
The shooting part 4 of compartment coaming plate image information, shooting part 4 are connected with the controller 3；Also include the in this outer controller 3
Two memory cell 310 and the second compartment model determining unit 311；Wherein the second memory cell 310 is used to store platform floor position
Put, the corresponding relation of axle location and compartment model；Second compartment model determining unit 311 is used for what is shot according to shooting part
Image information determines compartment model, and determines platform floor position and the axletree position according to compartment model and corresponding relation
Put.
Corresponding, height calculation unit 31 is calculated according to the scanning signal of platform floor position and the first pulse radar 1 and thrown
Exit point is relative to the height of platform floor, and loading condition judging unit 34 is according to axle location, subspace volume and incident point
The unbalance loading state in vertical projection position compartment.
Corresponding with the compartment loading condition detecting system that aforementioned preferred embodiments provide, one embodiment of the present invention provides
Compartment loading condition detection method it is further comprising the steps of：
S109：Compartment model is determined according to the image information that shooting part is shot；
S110：Platform floor position and axle location are determined according to compartment model；
Corresponding, step S101 is specially S1012 according to platform floor position and the scanning signal meter of the first pulse radar
Calculate height of the incident point relative to platform floor；Step S104 is specially S1042：According to axle location, subspace volume and throwing
The vertical projection position of exit point calculates the unbalance loading state in compartment.
Figure 11 is another embodiment compartment loading condition detecting system application scenarios schematic diagram.Such as Figure 11, the present embodiment bag
Two sets of compartment loading condition detecting systems are included, wherein first set detecting system is used for the loading condition for detecting unloaded compartment, with inspection
The bottom plate heights of each position in unloaded compartment are surveyed, then determine whether there are the foreign matters such as ice sheet in compartment, prompting operating personnel's cleaning
Corresponding compartment；Second set of detecting system is used to detect the loading condition for loading coal trunk.Two sets of compartment loading condition inspections
Examining system coordinates, and avoids foreign matter in compartment from occupying compartment space, influence the accuracy of test.
The compartment loading condition detecting system in the embodiment of the present invention and method row are discussed in detail above.Adopt this part
The principle and embodiment of the present invention are set forth with specific embodiment, the explanation of above example is only intended to help and managed
The core concept of the present invention is solved, without departing from the principles of the present invention, those of ordinary skill in the art are not making wound
The every other embodiment obtained under the premise of the property made work, belongs to the scope of protection of the invention.
Claims (9)
- A kind of 1. compartment loading condition detecting system, it is characterised in that：Including the first pulse radar (1), the second pulse radar (2) With controller (3)；First pulse radar (1) and second pulse radar (2) are connected with the controller (3)；Institute The scan frequency for stating the second pulse radar (2) is the integral multiple of the first pulse radar (1) scan frequency；The plane of scanning motion of first pulse radar (1) and the direct of travel in compartment are not parallel；First pulse radar (1) exists The incident point of car body top is across car body top；Traveling side of the plane of scanning motion of second pulse radar (2) parallel to compartment To；Controller (3) includes：Height calculation unit (31) is relative for calculating the incident point according to the scanning signal of first pulse radar (1) In the height of the platform floor；Position calculation unit (32), for the scanning signal according to first pulse radar (1) and second pulse radar (2) scanning signal calculates the incident point in the vertical projection position of platform floor；Volume computing unit (33), it is corresponding to calculate the incident point for the height according to the incident point and vertical projection position Subspace volume；Loading condition judging unit (34), for being calculated according to the vertical projection position of the subspace volume and the incident point The unbalance loading state in compartment, and/or, the load-carrying in compartment is calculated according to the subspace volume.
- 2. loading condition detecting system in compartment according to claim 1, it is characterised in that the controller (3) also includes：Computing unit (35) is moved backward, for judging whether compartment is anti-according to the scanning signal of second pulse radar (2) To traveling, and, in compartment during backward going calculate compartment reverse movement distance；Unit (36) is deleted, for deleting the reverse movement apart from the height in interior incident point to platform floor and in platform floor Vertical projection position.
- 3. loading condition detecting system in compartment according to claim 1 or 2, it is characterised in that the controller (3) is also wrapped Include：First memory cell (37), for storing car length, box width, height of wagon, platform floor position and axletree position Put the corresponding relation respectively with compartment model；First car sizes computing unit (38), it is wide for calculating compartment according to the scanning signal of first pulse radar (1) Degree and height of wagon, and, car length is calculated according to the scanning signal of second pulse radar (2)；First compartment model determining unit (39), for according to the car length, the box width, the height of wagon and The corresponding relation determines compartment model, and determines the platform floor position and the axletree position according to the compartment model Put；The height calculation unit (31) calculates height of the incident point relative to platform floor according to the compartment model；The loading condition judging unit (34) is vertical according to the axle location, the subspace volume and the incident point Projected position calculates the unbalance loading state in compartment.
- 4. loading condition detecting system in compartment according to claim 1 or 2, it is characterised in that：Also include shooting part (4)；The shooting part (4) is connected with the controller (3)；The controller (3) also includes：Second memory cell (310), the corresponding relation for platform floor position, axle location and compartment model；Second compartment model determining unit (311), the image information for being shot according to the shooting part determine compartment model, And the platform floor position and the axle location are determined according to the compartment model and the corresponding relation；The height calculation unit (31) is according to the platform floor position and the scanning signal meter of first pulse radar (1) Calculate height of the incident point relative to platform floor；The loading condition judging unit (34) is vertical according to the axle location, the subspace volume and the incident point Projected position calculates the unbalance loading state in compartment.
- 5. loading condition detecting system in compartment according to claim 1 or 2, it is characterised in that:Direct of travel of the plane of scanning motion of first pulse radar (1) perpendicular to compartment.
- A kind of 6. compartment loading condition detection method, applied to compartment loading condition detecting system；It is characterized in that：The system Including the first pulse radar (1), the second pulse radar (2) and controller (3)；First pulse radar (1) and described second Pulse radar (2) is connected with the controller (3)；The scan frequency of second pulse radar (2) is that the first pulse radar (1) is swept Retouch the integral multiple of frequency；The plane of scanning motion of first pulse radar (1) and the direct of travel in compartment are not parallel；First pulse radar (1) exists The incident point of car body top is across car body top；Traveling side of the plane of scanning motion of second pulse radar (2) parallel to compartment To；The controller (3) is configured with following methods：Height of the incident point relative to platform floor is calculated according to the scanning signal of first pulse radar (1)；According to calculating the scanning signal of first pulse radar (1) and the scanning signal of second pulse radar (2) Incident point is in the vertical projection position of platform floor；The subspace volume according to corresponding to the height and the vertical projection position calculate the incident point；The unbalance loading state in compartment is calculated according to the vertical projection position in the subspace volume and the incident point, and/or, according to The subspace volume calculates the load-carrying in compartment.
- 7. loading condition detection method in compartment according to claim 6, it is characterised in that according to the height and described perpendicular Straight projected position also includes before calculating subspace volume corresponding to the incident point：According to the scanning signal of second pulse radar (2) judge compartment whether backward going；In compartment during backward going, the reverse movement distance in compartment is calculated, it is relative apart from interior incident point to delete the reverse movement Height and vertical projection position in platform floor.
- 8. the compartment loading condition detection method according to claim 6 or 7, it is characterised in that also include：Box width and height of wagon are calculated according to the scanning signal of first pulse radar (1), according to second pulse The scanning signal of radar (2) calculates car length；Compartment model is determined according to the car length, the box width and the height of wagon, according to the compartment model Determine platform floor position and axle location；According to calculating the scanning signal of first pulse radar (1) and the scanning signal of second pulse radar (2) The vertical projection position in incident point is specially：Believed according to the scanning of the platform floor position and first pulse radar (1) Number calculate the height of the incident point relative to platform floor；According to the vertical projection position in the subspace volume and the incident point calculate compartment unbalance loading state be specially；According to The vertical projection position of the axle location, the subspace volume and the incident point calculates the unbalance loading state in compartment.
- 9. the compartment loading condition detection method according to claim 6 or 7, it is characterised in that：The compartment loading condition Detecting system also includes shooting part (4)；Methods described also includes,Compartment model is determined according to the image information that the shooting part is shot, platform floor position is determined according to the vehicle model Put and axle location；According to calculating the scanning signal of first pulse radar (1) and the scanning signal of second pulse radar (2) The vertical projection position in incident point is specially：Believed according to the scanning of the platform floor position and first pulse radar (1) Number calculate the height of the incident point relative to platform floor；According to the vertical projection position in the subspace volume and the incident point calculate compartment unbalance loading state be specially：According to The vertical projection position of the axle location, the subspace volume and the incident point calculates the unbalance loading state in compartment.
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| CN110827279A (en) * | 2019-11-28 | 2020-02-21 | 佳讯飞鸿（北京）智能科技研究院有限公司 | Method and system for detecting residues in train compartment |
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| CN117104917A (en) * | 2023-09-11 | 2023-11-24 | 广州恒玺建筑工程有限公司 | Asphalt material closed automatic loading system and method thereof |
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| CN117104917A (en) * | 2023-09-11 | 2023-11-24 | 广州恒玺建筑工程有限公司 | Asphalt material closed automatic loading system and method thereof |
| CN117104917B (en) * | 2023-09-11 | 2024-02-20 | 广州恒玺建筑工程有限公司 | Asphalt material closed automatic loading system and method thereof |
| CN117329971A (en) * | 2023-12-01 | 2024-01-02 | 海博泰科技(青岛)有限公司 | Compartment balance detection method and system based on three-dimensional laser radar |
| CN117329971B (en) * | 2023-12-01 | 2024-02-27 | 海博泰科技(青岛)有限公司 | Compartment balance detection method and system based on three-dimensional laser radar |
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