CN110304470A - A kind of lorry automatic ration stacking loading system - Google Patents
A kind of lorry automatic ration stacking loading system Download PDFInfo
- Publication number
- CN110304470A CN110304470A CN201910549250.3A CN201910549250A CN110304470A CN 110304470 A CN110304470 A CN 110304470A CN 201910549250 A CN201910549250 A CN 201910549250A CN 110304470 A CN110304470 A CN 110304470A
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- lorry
- controller
- distance
- sensor
- lane
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- 239000000463 material Substances 0.000 description 29
- 238000000034 method Methods 0.000 description 9
- 239000004020 conductor Substances 0.000 description 4
- 238000010586 diagram Methods 0.000 description 2
- 239000000428 dust Substances 0.000 description 2
- 240000007594 Oryza sativa Species 0.000 description 1
- 235000007164 Oryza sativa Nutrition 0.000 description 1
- 230000002411 adverse Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 235000009566 rice Nutrition 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
Classifications
-
- 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
-
- 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
Abstract
A kind of lorry automatic ration stacking loading system, including entrucking position and lane, baiting valve is equipped with above entrucking position, smart card is installed on lorry, target is hauled goods into weight transmitting to controller by the card reader on lane, two range sensors are also equipped at intervals with above lane, the distance between underlying object can be scanned with identical fixed frequency and is transferred to controller, headstock length and wagon box length can be calculated in controller, and multiple pre- lower discharge positions are distributed on wagon box according to wagon box length and target weight of hauling goods, entrucking position is equipped with third range sensor far from the side in lane, the horizontal distance of itself and lorry can be scanned and be transferred to controller, the horizontal distance between next pre- lower discharge position and baiting valve center can be calculated in controller, and by the horizontal distance constant feedback to lorry, in order to lorry row It sails to next pre- lower discharge position and is aligned with baiting valve center, realize the automatic ration stacking entrucking of no ground staff commander.
Description
Technical field
The present invention relates to lorry automatic loading system field more particularly to a kind of lorry automatic ration stacking loading systems.
Background technique
Currently, being all made of when industrial site transport finished aggregate or waste residue etc. itself has the material of mobility
Large-sized open mouthed formula lorry carries out entrucking and transport, and the license plate number and the target amount of hauling goods provided according to goods vehicle driver registration is fed,
Entrucking process is complicated and intensity of workers is big, the reason is that the wagon box length of different lorries and height difference, under feed bin
The distance of material mouth is indefinite, so needing ground staff to pass through its experience in blanking artificially to judge the lorry vehicle below lower hopper
Whether bucket is filled, and after filling, needs ground staff to remind driver that vehicle slowly goes, allows feed opening to remainder empty wagons bucket
Entrucking is carried out, repeats this operation until wagon box is filled.It travels in lorry to entrucking position, ground staff passes through straight with driver
Talk is connect, knows that the target of the train number is hauled goods weight, then lorry length visually, blanking time is judged by knowhow
Number, i.e., by experience estimate material need be divided into several heaps on wagon box, then again by ground staff's conductor driver by lorry forward
It gradually starts, so that lorry is successively parked in the lower discharge position that ground staff is judged, then fill opening feed opening by ground staff
Material, the material heap size of each lower discharge position is monitored when blanking by ground staff by naked eyes, and judges material heap by experience
It is already filled with through sufficiently large i.e. lower discharge position, then ground staff closes feed opening, and conductor driver continues lorry forward
It starts, lorry is made to be parked in next lower discharge position, repeat this process and material is just divided into several heaps on the wagon box of lorry.
In this existing material stacking entrucking mode, the degree of automation of entire entrucking process is not high, and lorry
Wagon box is usually higher, and personnel are to stand to observe lorry on the ground, and visual angle inconvenience is difficult to accurate observation and judgement, so passing through people
The stacking number method that simultaneously conductor driver drives to judge material is not accurate enough, it will usually and cause the stacking number of material unreasonable,
And the distance between each heap material is caused on wagon box to reduce the utilization rate to space on hopper excessively closely or too far；And exist at present
The noise at entrucking scene is generally large, commands ground staff to driver also more difficult, reduces entrucking efficiency；This exterior
The fugitive dust at vehicle scene is also larger, adversely affects to the health of ground staff.
Summary of the invention
It is lower to solve the degree of automation in above-mentioned existing material stacking entrucking, it relies on ground staff commander and brings not
Just the problem of, the present invention provides a kind of lorry automatic ration stacking loading systems.
Used technical solution is the present invention to solve above-mentioned technical problem: a kind of lorry automatic ration stacking entrucking system
System is equipped with above entrucking position and conveys with material including being equipped with the entrucking position of weighbridge and driving into the lane of entrucking position for lorry level
System connected baiting valve is equipped on lorry and hauls goods the smart card of weight for storing target, and lane is equipped with for reading
Target in smart card is hauled goods the card reader of weight, and target is hauled goods weight transmitting to controller by card reader；
Two range sensors are also arranged at intervals with above the lane, wherein first distance sensor is located at second distance sensing
Side of the device along lane length direction far from entrucking position, the height of two range sensors is equal and is all larger than the height of lorry,
Two range sensors can be scanned with identical fixed frequency with respectively immediately below the distance between object, and by respective distance
Numerical value is transferred to controller, prestored in controller there are two between the height of range sensor, two range sensors along lane
The distance of length direction and the headstock altitude range of lorry and wagon box altitude range, enable the controller to record to obtain respectively
Collection point number that first distance sensor is integrally scanned headstock, first distance sensor are integrally scanned wagon box
Collection point number and when second distance sensor starts to be scanned headstock first distance sensor to lorry
The collection point number being scanned, to enable the controller to that headstock length and wagon box length is calculated, and long according to wagon box
Degree and target are hauled goods, and uniform intervals distribute the pre- lower discharge position of multiple identical cutting stock weights to weight along its length on wagon box；
The entrucking position is equipped with third range sensor far from the side in lane, and the height of third range sensor is not more than lorry
Height, so that third range sensor is scanned it between lorry along the horizontal distance in lane length direction, and will be horizontal
Distance values are transferred to controller, prestored in controller between third range sensor and baiting valve center it is horizontal away from
From enabling the controller to be calculated on wagon box along next pre- lower discharge position of headstock to tailstock direction and baiting valve centre bit
Horizontal distance between setting, and by the horizontal distance constant feedback to lorry, in order to which lorry is travelled to next pre- lower material position
It sets and is aligned with baiting valve center.
Preferably, the smart card is mounted on the front end of lorry headstock, and card reader is mounted on first distance sensor.
Preferably, when lorry is travelled to next pre- lower discharge position and is aligned with baiting valve center, controller can
Baiting valve is opened, the weighbridge can enable the controller to fill in pre- lower discharge position to controller real-time delivery lorry weight
When close baiting valve.
Preferably, display screen is installed on the third range sensor, is used for the next pre- lower discharge position of real-time display
With the horizontal distance between baiting valve center.
According to the above technical scheme, the beneficial effects of the present invention are:
The automatic stacking of lorry entrucking process is realized the present invention provides through multiple means cooperation and automatic prompt drives, drop
Dependence during low entrucking to ground staff is enabled a system to by smart card and card reader cooperation automatic from lorry first
It obtains target to haul goods weight, inquires driver without ground staff；Secondly by the scanning number of the first and second range sensors
According to enabling the controller to calculate lorry length automatically, and according to the number and material heap of preset algorithm reasonable distribution blanking
The distance between, ground staff station is avoided after ground is observed in face of the higher wagon box of lorry again by the feelings of micro-judgment
Condition；And during by heap blanking, by the scan data of third range sensor, driver is enable directly to learn pre- blanking
The distance between position and feed opening, it is no longer necessary to the commander of ground staff, so that driver be enable accurately to drive lorry
To pre- lower discharge position.
In conclusion in the present invention can stacking number to material and lower discharge position carry out reasonable distribution automatically, avoid
Ground staff is higher so judging the observation of lorry inconvenient, and feelings for causing the stacking number of material unreasonable due to lorry wagon box
Condition, and be capable of automatic and accurate provides the distance between pre- lower discharge position and feed opening to driver, avoids ground staff and leads to
It crosses and visually observes not accurate enough when lower discharge position and conductor driver drive, and cause the distance between each heap material on wagon box excessively close
Or too far the case where, improve the utilization rate to space on hopper；Since entire entrucking process realizes automation, also just it is not required to
It wants ground staff aside to observe and command, fundamentally avoids in the prior art since the noise at entrucking scene is larger, make
Ground staff is commanded driver more difficult problem, improves entrucking efficiency, and avoid ground staff in fugitive dust
The case where biggish entrucking scene is commanded, the health of effective protection personnel.
Detailed description of the invention
Fig. 1 is the structural diagram of the present invention；
Fig. 2 is the structural schematic diagram inside entrucking position.
Marked in the figure: 1, first distance sensor, 2, second distance sensor, 3, lane, 4, entrucking position, 5, third distance
Sensor, 6, weighbridge, 7, baiting valve, 8, material heap, 9, pre- lower discharge position.
Specific embodiment
Referring to attached drawing, specific embodiment is as follows:
As depicted in figs. 1 and 2, a kind of lorry automatic ration stacking loading system, entrucking position 4 and the supply of material including being equipped with weighbridge 6
Vehicle level drives into the lane 3 of entrucking position 4, and the baiting valve 7 being connected with material-transporting system is equipped with above entrucking position 4, is pacified on lorry
Equipped with hauling goods the smart card of weight for storing target, the target that lane 3 is equipped with for reading in smart card is hauled goods weight
Card reader, and target is hauled goods to controller by weight transmitting by card reader；In the present embodiment, smart card is mounted on lorry headstock
Front end, card reader is mounted on first distance sensor 1, and card reader can be scanned with direction obliquely, thus
Lorry reads target during travelling to entrucking position 4 and hauls goods weight, and target weight of hauling goods can be inputted by driver from driver's cabin
Or it is inputted using remaining various ways.
As shown in Figure 1,3 top of lane is also arranged at intervals with two range sensors, wherein first distance sensor 1 is located at
For second distance sensor 2 along lane side of 3 length direction far from entrucking position 4, the height of two range sensors is equal and equal
Greater than the height of lorry, two range sensors can be scanned with identical fixed frequency and respectively immediately below between object away from
From, and respective distance values are transferred to controller, height, two distances there are two range sensor are prestored in controller
Along the distance of 3 length direction of lane and the headstock altitude range of lorry and wagon box altitude range between sensor, make controller
It can judge automatically first distance sensor 1 and second distance sensor 2 is scanned is the headstock or wagon box of lorry.
After carrying out identification and classification to the scan data of acquisition, controller can record to obtain first distance sensing respectively
The collection point that collection point number that device 1 is integrally scanned headstock, first distance sensor 1 are integrally scanned wagon box
It counts and first distance sensor 1 has been scanned lorry when second distance sensor 2 starts to be scanned headstock
Collection point number, to enable the controller to that headstock length and wagon box length is calculated.
As shown in Figure 1, with the distance values that first distance sensor 1 scans be H1 in the present embodiment, second distance sensing
The distance values that device 2 scans are H2, controller after receiving H1 and H2, by its respectively with the range sensor oneself height that prestores
It is calculated, then is compared respectively with preset headstock height number range and wagon box height number range, be able to draw
The H1 and H2 for belonging to headstock range and wagon box range are separated, H1 number for belonging to headstock range, i.e. first distance are counted with this
Sensor 1 scans the collection point number N1 of headstock, and counts H1 number for belonging to wagon box range, i.e. first distance sensor 1
The collection point number N2 of wagon box is scanned, existing common controller is necessarily able to achieve above-mentioned function.
Also, controller can also be counted when second distance sensor 2 starts to be scanned headstock, i.e. headstock front end
Traveling is to the lower section of second distance sensor 2 below first distance sensor 1, and second distance sensor 2 is made to carry out the to headstock
When single pass, collection point number N3 that first distance sensor 1 has been scanned lorry.Due to first distance sensor
1 and second distance sensor 2 be to be scanned with identical fixed frequency, lorry level traveling the velocity variations short time in can
It is just equal proportion relationship between collection point number and horizontal distance in the case where ignoring, and there are two being prestored in controller
Along the distance D1 of 3 length direction of lane between range sensor, because two range sensor height are equal, D1 is exactly edge
Thus the distance of horizontal direction can carry out that headstock length L1 and wagon box length L2 is calculated:
Scan frequency with two range sensors is T, then L1=N1*T, L2=N2*T, D1=N3*T, so T=D1/N3
Find out L1=N1*D1/N3；L2=N2*D1/N3.
Hauled goods weight M according to wagon box length L2 and target, controller can automatically on wagon box along its length uniformly between
Every the pre- lower discharge position 9 for distributing multiple identical cutting stock weights, the calculation method of the method for salary distribution in the prior art there are many, this
Relatively conventional Target Assignment revised law is used in embodiment, i.e., is first hauled goods weight, controlled according to the type and target of material
The reference distance between the i.e. pre- lower discharge position 9 of two neighboring material heap 8 is preset in device, is repaired further according to the physical length of wagon box
Just, the number X of the i.e. pre- lower discharge position 9 of blanking number is obtained, so that it is determined that the distance between two neighboring pre- lower discharge position 9.
If preset reference distance is 3 meters in the controller, with wagon box length L2 divided by 3 meters of reference distance, lower material position is obtained
Set 9 number reference value X0, work as X0When for integer, that is, wagon box length L2 being just 3 multiple, X is directly taken0For pre- lower discharge position 9
Number X, and work as X0When not being integer, to X0It rounds up, that is, takes X0Integer part numerical value add 1, as pre- lower material position
9 number X is set, just can determine that the distance between two neighboring pre- lower discharge position 9 is L2/X, the blanking weight of each material heap 8 immediately
Mper=M/X is measured, and in blanking, is with equal with the both ends distance of wagon box positioned at the material heap 8 at wagon box length direction both ends
Preferably, the distance between pre- lower discharge position 9 and wagon box front end are obtained and is followed successively by 0.5*L2/X, 1.5*L2/X, 2.5*L2/X ... (X-
0.5)*L2/X.By taking long L2=14 meter of wagon box, the target amount of hauling goods M=26 ton as an example, blanking number X=14/3 rounding+1=5 times, every time
Cutting stock weight Mper=26/5=5.2 ton, lower discharge position are followed successively by 1.4 meters, 4.2 meters, 7 meters, 9.8 according to the distance of wagon box front baffle
Rice and 12.6 meters.
As shown in Fig. 2, controller necessarily has been completed for pre- when lorry travels on the weighbridge 6 into entrucking position 4
The calculating and distribution of lower discharge position 9, and entrucking position 4 is equipped with third range sensor 5 far from the side in lane 3, third distance passes
The height of sensor 5 is not more than the height of lorry, and third range sensor 5 is enable to scan it between lorry along 3 length of lane
The horizontal distance in direction, and horizontal distance numerical value is transferred to controller, third range sensor 5 is prestored in controller under
Expect the horizontal distance between 7 center of valve, enables the controller to be calculated on wagon box along the next of headstock to tailstock direction
Horizontal distance between a pre- lower discharge position 9 and 7 center of baiting valve.
As shown in Fig. 2, prestored in controller between 7 center of third range sensor 5 and baiting valve it is horizontal away from
From D2, and be computed and stored in the controller headstock length L1 and wagon box front end and next pre- lower discharge position 9 it
Between distance D4, and third range sensor 5 can by the distance between itself and lorry headstock front end D3 real-time delivery to controller,
Controller can calculate horizontal distance D5=D4+L1+ between next pre- lower discharge position 9 and 7 center of baiting valve in real time
D3-D2。
Display screen is installed on third range sensor 5, for the next pre- lower discharge position 9 of real-time display and baiting valve 7
Horizontal distance between center, driver can observe at any time the distance values of display screen display in driving procedure,
Be achieved that horizontal distance constant feedback that controller is calculated to lorry, driver according to the numerical value of the horizontal distance just
It lorry can accurately be driven travels to next pre- lower discharge position 9 and be aligned with 7 center of baiting valve, then controller is opened
Baiting valve 7 simultaneously charges into pre- lower discharge position 9, while weighbridge 6 is to controller real-time delivery lorry weight, when the gross weight of lorry increases
When having added a 8 pre-assigned cutting stock weight of material heap, as one pre- lower discharge position 9 is already filled with, and controller makes baiting valve 7
Close and show on a display screen the horizontal distance of next pre- lower discharge position 9, driver can continue lorry to be driven to next
A pre- lower discharge position 9 is achieved that the case where no ground staff commands until all pre- lower discharge positions 9 are filled
Under, the haul goods material of weight of target is automatically and reasonably assigned as the requirement of multiple 8 entruckings of material heap transport on wagon box.
Claims (4)
1. a kind of lorry automatic ration stacking loading system, including being equipped with the entrucking position (4) of weighbridge (6) and being driven into for lorry level
The lane (3) of entrucking position (4) is equipped with the baiting valve (7) being connected with material-transporting system above entrucking position (4), it is characterised in that:
It is equipped on lorry and hauls goods the smart card of weight for storing target, lane (3) are equipped with for reading the target in smart card
The card reader for weight of hauling goods, and target is hauled goods to controller by weight transmitting by card reader；
Also be arranged at intervals with two range sensors above the lane (3), wherein first distance sensor (1) be located at second away from
From sensor (2) along lane side of (3) length direction far from entrucking position (4), the height of two range sensors is equal and equal
Greater than the height of lorry, two range sensors can be scanned with identical fixed frequency and respectively immediately below between object away from
From, and respective distance values are transferred to controller, height, two distances there are two range sensor are prestored in controller
Along the distance of lane (3) length direction and the headstock altitude range and wagon box altitude range of lorry between sensor, make to control
Device can record to obtain collection point number, the first distance biography that first distance sensor (1) is integrally scanned headstock respectively
The collection point number and start to sweep headstock in second distance sensor (2) that sensor (1) is integrally scanned wagon box
The collection point number that first distance sensor (1) has been scanned lorry when retouching, to enable the controller to be calculated
Headstock length and wagon box length, and according to wagon box length and target haul goods weight on wagon box along its length uniform intervals distribute
The pre- lower discharge position (9) of multiple identical cutting stock weights；
The entrucking position (4) is equipped with third range sensor (5) far from the side of lane (3), the height of third range sensor (5)
Degree is not more than the height of lorry, makes third range sensor (5) that can scan it between lorry along lane (3) length direction
Horizontal distance, and horizontal distance numerical value is transferred to controller, third range sensor (5) and baiting valve are prestored in controller
(7) horizontal distance between center enables the controller to be calculated on wagon box along the next of headstock to tailstock direction
Horizontal distance between pre- lower discharge position (9) and baiting valve (7) center, and by the horizontal distance constant feedback to lorry,
It is aligned in order to which lorry is travelled to next pre- lower discharge position (9) with baiting valve (7) center.
2. a kind of lorry automatic ration stacking loading system according to claim 1, it is characterised in that: the smart card peace
Mounted in the front end of lorry headstock, card reader is mounted on first distance sensor (1).
3. a kind of lorry automatic ration stacking loading system according to claim 1, it is characterised in that: lorry travel to
When next pre- lower discharge position (9) is aligned with baiting valve (7) center, controller can open baiting valve (7), the weighbridge
(6) it can enable the controller to close baiting valve when pre- lower discharge position (9) is filled to controller real-time delivery lorry weight
(7).
4. a kind of lorry automatic ration stacking loading system according to claim 1, it is characterised in that: the third distance
Sensor is equipped with display screen on (5), for the next pre- lower discharge position (9) of real-time display and baiting valve (7) center it
Between horizontal distance.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910549250.3A CN110304470A (en) | 2019-06-24 | 2019-06-24 | A kind of lorry automatic ration stacking loading system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910549250.3A CN110304470A (en) | 2019-06-24 | 2019-06-24 | A kind of lorry automatic ration stacking loading system |
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| CN110304470A true CN110304470A (en) | 2019-10-08 |
Family
ID=68076474
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| CN201910549250.3A Pending CN110304470A (en) | 2019-06-24 | 2019-06-24 | A kind of lorry automatic ration stacking loading system |
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| CN110877830A (en) * | 2019-11-18 | 2020-03-13 | 盐城市联鑫钢铁有限公司 | Automatic discharging control method for discharging bin |
| CN111942918A (en) * | 2020-08-17 | 2020-11-17 | 天地科技股份有限公司 | Method for unloading automobile in full-automatic loading station |
| CN115724221A (en) * | 2022-11-15 | 2023-03-03 | 大连科润重工起重机有限公司 | Intelligent bulk material feeding system |
| CN116002408A (en) * | 2022-12-28 | 2023-04-25 | 西安电子科技大学 | Autonomous guiding and intelligent loading method and system for truck carrier |
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