CN110526117A - A method of it is positioned for railway goods yard container - Google Patents
A method of it is positioned for railway goods yard container Download PDFInfo
- Publication number
- CN110526117A CN110526117A CN201910671426.2A CN201910671426A CN110526117A CN 110526117 A CN110526117 A CN 110526117A CN 201910671426 A CN201910671426 A CN 201910671426A CN 110526117 A CN110526117 A CN 110526117A
- Authority
- CN
- China
- Prior art keywords
- container
- positioning
- gantry crane
- goods yard
- coordinate
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/16—Applications of indicating, registering, or weighing devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
Abstract
The present invention discloses a kind of method for the positioning of railway goods yard container, the present invention is by using space inverted orientation technology in conjunction with UWB wireless location technology, container number plate identification technology, GNSS-RTK location technology, automatic tracking technology, realize the optimum management to the container of railway goods yard, promote goods yard circulation efficiency, solve the essential information demand of actual field container case field management, improve operating efficiency, perfect work flow increases economic benefit.
Description
Technical field
The present invention relates to container management technical field, specially a kind of method for the positioning of railway goods yard container.
Background technique
Container refers to the large-scale goods container specialized in and be used in turn with some strength, rigidity and specification, uses packaging
Case transshipment cargo can directly freight in the warehouse of consignor, transport to the warehouse unloading of consignee, more change trains halfway, ship time, without
Cargo is taken out out of case and is changed the outfit.Outmoded, information-based infrastructure of the container management of existing railway goods yard due to equipment
Not in time, the scale of construction at high cost, the single goods yard of modernization overlay less etc. factors lead to not using modernization harbour collection
Vanning management system.Becoming can be transformed, and will also face with high costs, the new problem such as training, upgrading of personnel.Railway goods yard mentions
High cube container week, transfer efficient had become instantly very important problem.Scheme current for the positioning of packaging has using Gray
Bus, laser ranging, the schemes such as rotary encoder.But Gray bus enforcement difficulty is big, cost is high, and gantry crane can only trapped orbit
Problem.Laser ranging then wants high to environment, and koniology is affected, and suspension hook positioning not can solve, while laser ranging
There are human safety issues.Rotary encoder, which needs to hang on the door, to be transformed, and stroke is limited, needs to pinpoint reset, is only used for
Trapped orbit.
Summary of the invention
The purpose of the present invention is to provide a kind of methods for the positioning of railway goods yard container, to solve above-mentioned background skill
The problem of being proposed in art.
1. to achieve the above object, the invention provides the following technical scheme: it is a kind of for railway goods yard container positioning
Method, it is characterised in that: its method the following steps are included:
Step 1 positions gantry crane position, container lot in realization system by GNSS-RTK positioning system of the device on gantry crane
The level-one positioning set, calculates (X, Y1) data of container final position, when system is by GNSS-RTK positioning system fructufy
Central information acquisition system is controlled in automatic input and is stored up；
Step 2 is accurately positioned container placement location: by device on gantry crane UWB equipment on trolley and suspender, pass through UWB
The precision ranging for positioning antenna calculates (Y2, Z) number of axle evidence of container final position using UWB location technology, realizes collection
The two-stage positioning of vanning position.UWB technology is that a kind of transmission rate is high (reaching as high as 1000Mbps or more), transmission power compared with
Low, penetration capacity is relatively strong and is the wireless technology based on ultra-narrow pulse, carrierfree.UWB indoor location technology frequently with
TDOA demonstrates ranging localization algorithm, is exactly the time difference reached by signal, precision is up to 0.1m.
Step 3, by acquisition gantry crane on unlocking, locking, T20-T40 signal, in conjunction with a two-stage positioning coordinate (X, Y,
Z), and the case number (CN) identifying system of combination container, space coordinate when grabbing and discharge by gantry crane reverse-locate out packaging
The position of case realizes that the space of container reverse-locates, data is finally synchronized to middle control center, complete case field container position
The acquisition of information data.
Ball machine is installed on the gantry crane, by rotating ball machine direction, dolly camera, realizes that gantry crane staff passes through
Display screen can intuitively see the video scene on the periphery of current suspension hook, trolley, the work of service hoisting gantry crane staff
Efficiency.
The number plate identification operation of the container is identified that the acquisition of case number (CN) is known using optical character by polyphaser
Not Cai Yong OCR technology, and recognition result is uploaded to middle control, after manual confirmation correction, is issued to gantry crane system, gantry crane system
When operation, it is recognized by gantry crane system, result is compared, when discovery is in system by difference, sound prompting, by
Gantry crane staff confirmation.
The present invention combines final realize to be accurately positioned by using GNSS-RTK level-one positioning+UWB two-stage positioning.Cost
It is low, existing system, rail-free setting can eaily be transformed.It uses simultaneously and automatically tracks ball machine energy whipline driver crawl
Container improves rate flow.Present system solves the problems, such as, optimizes, management process, lifting system operating efficiency.Positioning system
System mainly solves the problems, such as container information acquisition, location lookup, and it is insufficient to solve gantry crane crawl container efficiency.Current packaging
Case cannot intuitively obtain information in the stockpiling in stockyard and distribution situation, so that container is in suitcase and when falling case, it cannot be accurate
The problem of finding chest, put to no little inconvenience to work.
Specific embodiment
Below in conjunction with the embodiment of the present invention, technical solution in the embodiment of the present invention is clearly and completely retouched
It states.
A method of for railway goods yard container position, method the following steps are included:
Step 1, station acquisition of the gantry crane in its goods yard: the eminence in goods yard installs GNSS-RTK positioning reference station, on gantry crane
GNSS-RTK movement station is installed, (X0, the Y0) coordinate of gantry crane relative to base station is calculated by RTK technology.Then pass through seat
Coordinate, is mapped to (X, Y1) coordinate of container case field, to obtain one of gantry crane relative to container case field by the conversion of mark system
Grade coordinate position, and then obtain rough position of the current work container relative to case field.
Step 2 is accurately positioned container placement location: the UWB equipment level-one by being mounted on gantry crane carriage walking direction
The UWB equipment of Xiamen sling direction of travel is installed, survey calculation obtains (Y2, the Z) coordinate of suspender with respect to gantry crane respectively.In conjunction with
(X, Y1) coordinate in step 1 further calculates it can be concluded that (X, Y, the Z) coordinate of suspender relative to container case field.
Step 3, by the unlocking on acquisition gantry crane, block signal, in conjunction with (X, Y, the Z) in step 2, in addition state obtains
State coordinate (X, Y, Z, the Status) coordinate of suspender in entire operation process out.Such as the coordinate in suspender locking is A
(Xa, Ya, Za, 1), coordinate when suspender is unlocked are B (Xb, Yb, Zb, 0), combine suspender A point to be moved in B point process at this time
Case number (CN) identification, then track of the entire container in container case field can obtain A à (case number (CN) TBJU1234567) à B, table
It reaches and means container TBJU1234567 from the mobile road B location of location A.
The division that positioning system combination case area case is converts position A, B to corresponding case position, such as location A à A1-1,
B location B3-2 ultimately forms the hanging box single instrction of system acquisition, and example as above states the hanging box Dan Weiyi case band list to be formed, by case
Number TBJU1234567 moves to B3-2 from case position A1-1.By formed automatic collection hang Dan Tongzhong control center issued hang list
It is matched, completes the perfect management of container case field work flow.
Locating coordinate, can quickly distinguish the container currently grabbed when unlocking, be latched by identification suspender
Operation behaviour, such as handling train, handling automobile, pool case operation behaviour.System passes through the job instruction for judging automatically out, knot
The instruction that center is issued, guiding circulation track of the feedback container of final real-time full in case field are controlled in conjunction.
It although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
A variety of variations, modification, replacement can be carried out to these embodiments without departing from the principles and spirit of the present invention by understanding
And modification, the scope of the present invention is defined by the appended.
Claims (4)
1. it is a kind of for railway goods yard container positioning method, it is characterised in that: its method the following steps are included:
Station acquisition of the gantry crane in its goods yard: step 1 positions gantry crane by GNSS-RTK positioning system of the device on gantry crane
Position, the level-one positioning of container position, calculates (X, Y1) data of container final position in realization system, and system will
Central information acquisition system is controlled when GNSS-RTK positioning system fructufy in automatic input and is stored up；
Step 2 is accurately positioned container placement location: by device on gantry crane UWB equipment on trolley and suspender, pass through UWB
The precision ranging for positioning antenna calculates (Y2, Z) number of axle evidence of container final position using UWB location technology, realizes collection
The two-stage positioning of vanning position；
Step 3, by unlocking, the locking, T20-T40 signal on acquisition gantry crane, in conjunction with a two-stage positioning coordinate (X, Y, Z), with
And the case number (CN) identifying system of container is combined, space coordinate when being grabbed and being discharged by gantry crane reverse-locates out the position of container
It sets, realizes that the space of container reverse-locates, data are finally synchronized to middle control center, complete case field container position Information Number
According to acquisition.
2. a kind of method for the positioning of railway goods yard container according to claim 1, it is characterised in that: the door
Installation GNSS-RTK Position System device is hung on, coordinate of the gantry crane in entire case field is calculated by GNSS-RTK positioning system
(X, Y1).
3. a kind of method for the positioning of railway goods yard container according to claim 2, it is characterised in that: the door
Installation UWB Position System device is hung on, (Y2, the Z) coordinate of suspender relative to gantry crane is calculated by UWB positioning system.
4. a kind of method for the positioning of railway goods yard container according to claim 3, it is characterised in that: the door
Installation acquisition equipment is hung, equipment passes through the unlocking of acquisition gantry crane, block signal, T20-T40 signal, as a result above-mentioned (X, Y1)
(Y2, Z) coordinate information finally calculates (X, Y, Z, status) state position information of the suspender relative to entire goods yard, passes through
The position of suspender reversely obtains the position of container.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910671426.2A CN110526117B (en) | 2019-07-24 | 2019-07-24 | Method for positioning containers in railway freight yard |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910671426.2A CN110526117B (en) | 2019-07-24 | 2019-07-24 | Method for positioning containers in railway freight yard |
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| Publication Number | Publication Date |
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| CN110526117A true CN110526117A (en) | 2019-12-03 |
| CN110526117B CN110526117B (en) | 2021-06-08 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910671426.2A Active CN110526117B (en) | 2019-07-24 | 2019-07-24 | Method for positioning containers in railway freight yard |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111003659A (en) * | 2019-12-18 | 2020-04-14 | 中国铁路上海局集团有限公司金华货运中心 | Container positioning method based on container empty container stacker |
| CN111039186A (en) * | 2019-12-18 | 2020-04-21 | 中国铁路上海局集团有限公司 | Method for identifying license plate number and vehicle number of container gantry crane |
| CN111071929A (en) * | 2019-12-18 | 2020-04-28 | 中国铁路上海局集团有限公司金华货运中心 | Method for positioning container based on container reach stacker crane |
| CN112320601A (en) * | 2020-10-14 | 2021-02-05 | 南京沃旭通讯科技有限公司 | UWB ranging-based crane positioning system and bin management method |
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| KR20090073284A (en) * | 2007-12-31 | 2009-07-03 | 순천대학교 산학협력단 | Location based automatic yard crane system |
| CN107765594A (en) * | 2017-10-27 | 2018-03-06 | 盐田国际集装箱码头有限公司 | A kind of container terminal straddle truck stockyard case position localization method and alignment system |
| CN109019334A (en) * | 2018-08-06 | 2018-12-18 | 武汉港迪智能技术有限公司 | A kind of railway goods yard gantry crane is to compartment localization method |
| CN109613584A (en) * | 2018-12-27 | 2019-04-12 | 北京主线科技有限公司 | The positioning and orienting method of unmanned truck based on UWB |
-
2019
- 2019-07-24 CN CN201910671426.2A patent/CN110526117B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| KR20090073284A (en) * | 2007-12-31 | 2009-07-03 | 순천대학교 산학협력단 | Location based automatic yard crane system |
| CN107765594A (en) * | 2017-10-27 | 2018-03-06 | 盐田国际集装箱码头有限公司 | A kind of container terminal straddle truck stockyard case position localization method and alignment system |
| CN109019334A (en) * | 2018-08-06 | 2018-12-18 | 武汉港迪智能技术有限公司 | A kind of railway goods yard gantry crane is to compartment localization method |
| CN109613584A (en) * | 2018-12-27 | 2019-04-12 | 北京主线科技有限公司 | The positioning and orienting method of unmanned truck based on UWB |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111003659A (en) * | 2019-12-18 | 2020-04-14 | 中国铁路上海局集团有限公司金华货运中心 | Container positioning method based on container empty container stacker |
| CN111039186A (en) * | 2019-12-18 | 2020-04-21 | 中国铁路上海局集团有限公司 | Method for identifying license plate number and vehicle number of container gantry crane |
| CN111071929A (en) * | 2019-12-18 | 2020-04-28 | 中国铁路上海局集团有限公司金华货运中心 | Method for positioning container based on container reach stacker crane |
| CN112320601A (en) * | 2020-10-14 | 2021-02-05 | 南京沃旭通讯科技有限公司 | UWB ranging-based crane positioning system and bin management method |
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| Publication number | Publication date |
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| CN110526117B (en) | 2021-06-08 |
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