CN110836636A - Laser scanning type train loading detection device - Google Patents
Laser scanning type train loading detection device Download PDFInfo
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- CN110836636A CN110836636A CN201910995412.6A CN201910995412A CN110836636A CN 110836636 A CN110836636 A CN 110836636A CN 201910995412 A CN201910995412 A CN 201910995412A CN 110836636 A CN110836636 A CN 110836636A
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- 238000001514 detection method Methods 0.000 title claims abstract description 40
- 239000000463 material Substances 0.000 claims abstract description 58
- 230000007246 mechanism Effects 0.000 claims abstract description 4
- 230000003139 buffering effect Effects 0.000 claims description 18
- 238000000034 method Methods 0.000 claims description 18
- 238000007790 scraping Methods 0.000 claims description 9
- 238000007599 discharging Methods 0.000 claims description 8
- 230000008859 change Effects 0.000 claims description 3
- 230000009286 beneficial effect Effects 0.000 abstract description 3
- 230000001960 triggered effect Effects 0.000 abstract 1
- 239000003245 coal Substances 0.000 description 23
- 230000008569 process Effects 0.000 description 8
- 230000000694 effects Effects 0.000 description 5
- 239000002245 particle Substances 0.000 description 5
- 239000000047 product Substances 0.000 description 5
- 238000005303 weighing Methods 0.000 description 3
- 229910000831 Steel Inorganic materials 0.000 description 2
- 239000010959 steel Substances 0.000 description 2
- 239000013589 supplement Substances 0.000 description 2
- 238000011144 upstream manufacturing Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000005065 mining Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
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- 239000000725 suspension Substances 0.000 description 1
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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
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/14—Measuring arrangements characterised by the use of optical techniques for measuring distance or clearance between spaced objects or spaced apertures
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G67/00—Loading or unloading vehicles
- B65G67/02—Loading or unloading land vehicles
- B65G67/04—Loading land vehicles
- B65G67/06—Feeding articles or materials from bunkers or tunnels
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
- G06K17/00—Methods or arrangements for effecting co-operative working between equipments covered by two or more of main groups G06K1/00 - G06K15/00, e.g. automatic card files incorporating conveying and reading operations
- G06K17/0022—Methods or arrangements for effecting co-operative working between equipments covered by two or more of main groups G06K1/00 - G06K15/00, e.g. automatic card files incorporating conveying and reading operations arrangements or provisions for transferring data to distant stations, e.g. from a sensing device
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- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention discloses a laser scanning type train loading detection device, which comprises: the bracket system is erected on two sides of the track; the top of the main buffer bin is open, and the bottom of the main buffer bin is provided with a first discharge pipe; a strickling mechanism; the first laser scanner detects the distance from the carriage head to a detection point at a preset frequency; the second laser scanner detects the distance from the top surface of the material in the main buffer bin to the detection point at a preset frequency; and the control center platform is used for receiving data and calculating the moving speed of the carriage, if the moving speed is within a speed threshold value, and when the distance from the carriage head to the detection point is within a first distance threshold value, the second laser scanner is triggered to start and the first electric valve is started, and when the difference value between the distance detected when the second laser scanner is started and the current distance detected by the second laser scanner is within a second distance threshold value, the first electric valve and the second laser scanner are closed. The invention has the beneficial effect of accurately controlling the loading volume of the carriage.
Description
Technical Field
The invention relates to the field of train loading equipment. More specifically, the present invention relates to a laser scanning train loading detection device.
Background
Although the degree of automation of coal mining operation at present is improved, the raw coal after being mined in a coal mine is firstly sent to a raw coal bin of a coal preparation plant, the raw coal is cleaned and processed into different coal products, then the coal products are sent to a product bin, finally the coal products are loaded in a fire loading station according to requirements, and finally the coal products are transported outside by a train. In the process, after the train reaches a coal loading point, coal can be put into a conveyor belt conveyor through a coal feeder to be conveyed to a carriage, the automation degree is improved, but the weighing mode in the loading process is usually not quantitative and is not metered, the weighing mode is adopted until the train is filled with the coal, and after the train reaches a freight destination port, the weighing mode of a rail weighbridge is adopted, the loading cannot be quantified in advance in the mode, the carriage overload or loss can easily occur, the automation degree is generally low, manual control is mainly used, a worker needs to check and supervise the loading process in real time, the labor intensity of the worker is high, the loading efficiency is low, and the insufficient train loading capacity or the over-limit loading capacity can be easily caused.
Disclosure of Invention
An object of the present invention is to solve at least the above problems and to provide at least the advantages described later.
The invention also aims to provide a laser scanning type train loading detection device, which has the functions of accurately controlling the falling of materials into a carriage, ensuring that the loading volume of the carriage reaches the standard and does not exceed the standard by jointly controlling the carriage moving speed, the carriage loading point and the carriage loading volume, and improving the continuous operation strength and the transportation efficiency.
To achieve these objects and other advantages in accordance with the present invention, there is provided a laser scanning train loading detection apparatus, including:
the bracket system is erected on two sides of the track;
the main buffer bin is fixed on the support system, the top of the main buffer bin is open, a first discharge pipe is arranged at the bottom of the main buffer bin, a first electric valve is arranged on the first discharge pipe, the lower end of the first discharge pipe is higher than the top of the carriage, and the main buffer bin is rectangular;
the scraping mechanism comprises a pair of electric cylinders fixed on the support system and scraping plates, two ends of each scraping plate are respectively fixed on moving ends of the pair of electric cylinders through fixing pieces, the moving direction of the moving ends of the electric cylinders is parallel to the track, and the scraping plates are positioned in the main buffer bin;
the first laser scanner is fixed on the support system and used for detecting the distance from the carriage head to a detection point at a preset frequency;
the second laser scanner is fixed on the support system and positioned above the main buffering bin, and detects the distance from the top surface of the material in the main buffering bin to a detection point at a preset frequency;
the control center platform is used for receiving data detected by the first laser scanner and the second laser scanner, denoising the data, calculating the moving speed of a carriage according to the data detected by the first laser scanner and the time when the data is detected, if the moving speed of the carriage is within a speed threshold value and the distance from the head of the carriage to a detection point is within a first distance threshold value, triggering the second laser scanner to start and the first electric valve to open, and closing the first electric valve and the second laser scanner when the difference value between the distance detected when the second laser scanner starts and the distance currently detected by the second laser scanner is within a second distance threshold value.
Preferably, the system for obtaining the second distance threshold further comprises:
the electronic radio frequency tag is arranged on the carriage head, and the data of the electronic radio frequency tag comprises a carriage number, a total number of carriages, a loading quality threshold value and a first loading volume threshold value;
the radio frequency signal transmitting receiver is arranged on the bracket system and used for sensing the data of the electronic radio frequency tag in real time;
and the control center platform receives the data sensed by the radio frequency signal transmitting and receiving device, calculates to obtain a second loading volume threshold according to the loading quality threshold and the stacking density of the materials in the main buffering bin, compares the second loading volume threshold with the first loading volume threshold, takes the smaller value as the actual loading volume threshold of the carriage, and calculates to obtain a second distance threshold of the carriage according to the actual loading volume threshold, the relation between the descending distance of the top of the materials in the main buffering bin and the descending volume of the materials.
Preferably, the method further comprises the following steps:
if the speed of the car moving is outside the speed threshold, the change of the moving speed of the car is informed until the moving speed of the car is within the speed threshold.
Preferably, the denoising method comprises: and calculating the ratio of the absolute difference value of the data to be processed and the data of two adjacent detection times to the time interval, and removing the data if the ratio is greater than a preset noise value.
Preferably, the scraper blade is arranged vertically, and the lower edge of the scraper blade is in a sawtooth shape.
Preferably, the method further comprises the following steps:
when the second laser scanner detects that the distance from the top surface of the material in the main buffering bin to a detection point is greater than a third distance threshold, when the difference value between the distance detected when the second laser scanner is started and the current distance detected by the second laser scanner is within a second distance threshold, after the first electric valve is closed, the first electric valve is locked.
Preferably, the method further comprises the following steps:
the secondary buffer bin is fixed on the support system and is positioned above the main buffer bin, the top of the secondary buffer bin is open and is positioned below the feeding conveying belt so as to receive materials, a second discharging pipe is arranged at the bottom of the secondary buffer bin, the lower end of the second discharging pipe extends into the main buffer bin and is higher than the scraper, and a second electric valve is arranged on the second discharging pipe;
when the first electric valve is locked, the control center platform controls to open the second electric valve and start the electric cylinder;
when the second laser scanner detects that the distance from the top surface of the material in the main buffering bin to the detection point is smaller than a fourth distance threshold value, the control center platform controls the second electric valve to be closed, the electric cylinder stops, and the first electric valve is unlocked.
The invention at least comprises the following beneficial effects:
firstly, through three joint control to carriage moving speed, carriage loading point, carriage loading volume to play accurate control material and fall in the carriage, guarantee that carriage loading volume is up to standard, and the effect that does not exceed standard, improve continuity of operation intensity and conveying efficiency.
Secondly, materials, such as coal mines, are classified into different grades of types of particle sizes according to grades before transportation, the materials are respectively transported to corresponding places before transportation, the stacking density of the coal mines is closely related to the particle size, and when the carriage loads the coal mines with the same volume, the loading quality can be different, so that the loading quality can exceed the standard for the coal mines with large stacking density under the condition that the loading volume does not exceed the standard. In the technical scheme, the electronic radio frequency tag and the radio frequency signal transmitting and receiving device are adopted to acquire the actual loading volume threshold value of the carriage in real time, and the effect of accurately calculating the second distance threshold value is achieved, so that the carriage loading cannot exceed the volume or the mass.
And thirdly, the secondary buffer bin is adopted to realize automatic supplement of materials in the main buffer bin, the continuous operation process of the material transportation upstream can not be influenced, the feeding conveyor belt does not need to stop transporting the materials due to loading, the no-load rate is reduced, and the efficiency is improved.
Additional advantages, objects, and features of the invention will be set forth in part in the description which follows and in part will become apparent to those having ordinary skill in the art upon examination of the following or may be learned from practice of the invention.
Drawings
Fig. 1 is a schematic plan view of the train loading detection device according to one embodiment of the present invention.
Detailed Description
The present invention is further described in detail below with reference to the attached drawings so that those skilled in the art can implement the invention by referring to the description text.
It is to be understood that in the description of the present invention, the terms indicating orientation or positional relationship are based on the orientation or positional relationship shown in the drawings, and are used only for convenience in describing the present invention and for simplification of the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.
As shown in fig. 1, the present invention provides a laser scanning train loading detection apparatus, including:
the bracket system 2 is erected on two sides of the track 1; the parts for supporting the train loading detection device are formed by welding steel structures or fixedly formed by bolts and the like so as to be erected on two sides of the track 1.
The main buffer bin 3 is fixed on the support system 2, the top of the main buffer bin 3 is open, a first discharge pipe is arranged at the bottom of the main buffer bin 3, a first electric valve is arranged on the first discharge pipe, the lower end of the first discharge pipe is higher than the top of the carriage, and the main buffer bin 3 is cuboid; the main buffer bin 3 can be fixed on the support system 2 through a steel structure, materials to be transported, such as coal mines, are stored in the main buffer bin 3 in advance, and after the first electric valve is opened, the materials are discharged through the first discharge pipe under the action of gravity;
the strickle mechanism comprises a pair of electric cylinders 4 fixed on the bracket system 2 and a scraper blade, two ends of the scraper blade are respectively fixed on moving ends of the pair of electric cylinders 4 through fixing parts, the moving direction of the moving ends of the electric cylinders 4 is parallel to the track 1, and the scraper blade is positioned in the main buffer bin 3; when storing the material in main surge bin 3, the material top can form class cone shape usually to lead to the volume of material in the main surge bin 3 of calculation that the distance of the material top that second laser scanner 6 detected to the check point can not be accurate, consequently, start behind electric jar 4, drive the scraper blade round trip movement, in order to strickle off the material top, make the material volume calculate more accurately.
The first laser scanner 5 is fixed on the support system 2, and the first laser scanner 5 detects the distance from the carriage head to a detection point at a preset frequency; the distance from the carriage to the loading point can be known in real time, so that the loading opportunity can be conveniently controlled.
The second laser scanner 6 is fixed on the bracket system 2 and is positioned above the main buffering bin 3, and the second laser scanner 6 detects the distance from the top surface of the material in the main buffering bin 3 to a detection point at a preset frequency; the distance from the top surface of the material to the detection point in the descending process of the material can be detected in real time, the loading volume can be quickly and timely known through the calculation of the control center platform, and the loading volume is convenient to control.
A control center platform for receiving data detected by the first laser scanner 5 and the second laser scanner 6, wherein the control center platform denoises the data, calculates the moving speed of the carriage according to the data detected by the first laser scanner 5 and the time when the data is detected, avoids that the carriage is far away from a loading point due to the limited falling speed of the material when the falling amount of the material is not reached due to the over-fast speed of the carriage, thereby causing the suspension of continuous operation and reducing the operation efficiency, triggers the second laser scanner 6 to start and the first electric valve to open if the moving speed of the carriage is within a speed threshold and the distance from the head of the carriage to a detection point is within a first distance threshold, and triggers the second laser scanner 6 to start and the first electric valve to open when the difference value between the distance detected when the second laser scanner 6 is started and the distance currently detected by the second laser scanner 6 is within a second distance threshold, the first electrically operated valve and the second laser scanner 6 are closed. The first distance threshold value is used for the accurate loading position of confirming, makes the material can be accurate in falling to the carriage from first discharging pipe, and the second distance threshold value is used for the accurate loading volume of confirming, makes the material volume that falls into in the carriage reach predetermined volume, can not be excessive promptly, can not be too many less yet, plays the effect of accurate loading, avoids overloading to cause the potential safety hazard, also avoids loading too little and influences conveying efficiency.
In the technical scheme, the carriage moving speed, the carriage loading point and the carriage loading volume are jointly controlled, so that the effects of accurately controlling the falling of materials into the carriage, ensuring that the carriage loading volume reaches the standard and does not exceed the standard are achieved, and the continuous operation strength and the transportation efficiency are improved.
In another aspect, a system for obtaining a second distance threshold is provided, comprising:
the electronic radio frequency tag is arranged on the carriage head, and the data of the electronic radio frequency tag comprises a carriage number, a total number of carriages, a loading quality threshold value and a first loading volume threshold value;
the radio frequency signal transmitting receiver is arranged on the bracket system 2 and is used for sensing the data of the electronic radio frequency tag in real time;
and the control center platform receives the data sensed by the radio frequency signal transmitting and receiving device, calculates to obtain a second loading volume threshold according to the loading quality threshold and the stacking density of the materials in the main buffering bin 3, compares the second loading volume threshold with the first loading volume threshold, takes the smaller value as the actual loading volume threshold of the carriage, and calculates to obtain a second distance threshold of the carriage according to the actual loading volume threshold, the relation between the descending distance of the top of the materials in the main buffering bin 3 and the descending volume of the materials.
Materials, such as coal mines, are classified into different grades of types of particle sizes according to grades before transportation, the materials are respectively transported to corresponding places before transportation, the stacking density of the coal mines is closely related to the particle sizes, and when the carriage loads the coal mines with the same volume, the loading quality can be different, so that the loading quality can exceed the standard for the coal mines with large stacking density under the condition that the loading volume does not exceed the standard. In the technical scheme, the electronic radio frequency tag and the radio frequency signal transmitting and receiving device are adopted to acquire the actual loading volume threshold value of the carriage in real time, and the effect of accurately calculating the second distance threshold value is achieved, so that the carriage loading cannot exceed the volume or the mass.
In another technical solution, the method further comprises:
if the speed of the car moving is outside the speed threshold, the change of the moving speed of the car is informed until the moving speed of the car is within the speed threshold. The moving speed of the carriage can be adjusted in time to ensure that the carriage can smoothly load materials.
In another technical scheme, the denoising method comprises the following steps: and calculating the ratio of the absolute difference value of the data to be processed and the data of two adjacent detection times to the time interval, and removing the data if the ratio is greater than a preset noise value.
In the technical scheme, if the scraper is in the scraping process, when the second laser scanner 6 detects the distance from the top of the material to the detection point, what is exactly detected is the distance from the scraper to the detection point, and the scraper has a certain height, which can influence the accuracy of later data calculation, therefore, a method of presetting a noise value is adopted to remove the data and improve the accuracy.
In another technical scheme, the scraper blade is vertically arranged, and the lower edge of the scraper blade is in a sawtooth shape. Because the material is particle, the adoption of the zigzag shape is beneficial to reducing the resistance in the operation process of the scraper and can not influence the flatness of the top of the material.
In another technical solution, the method further comprises:
when the second laser scanner 6 detects that the distance from the top surface of the material in the main buffering bin 3 to the detection point is greater than a third distance threshold, when the difference between the distance detected when the second laser scanner 6 is started and the current distance detected by the second laser scanner 6 is within a second distance threshold, the first electric valve is locked after the first electric valve is closed.
The third distance threshold value is used for reminding that the material is not enough in 3 main surge bins, and the material only is enough filled with current carriage, needs to supply the material, realizes automatic control, avoids first discharging pipe not have the material outflow, and causes next carriage unloaded. The first electric valve can be unlocked in many ways, and can be unlocked manually or set with an automatic control program.
In another technical solution, the method further comprises:
the secondary buffer bin 7 is fixed on the support system 2 and is positioned above the main buffer bin 3, the top of the secondary buffer bin 7 is open and is positioned below the feeding conveyor belt to receive materials, a second discharge pipe is arranged at the bottom of the secondary buffer bin 7, the lower end of the second discharge pipe extends into the main buffer bin 3 and is higher than the scraper, and a second electric valve is arranged on the second discharge pipe;
when the first electric valve is locked, the control center platform controls to open the second electric valve, and the electric cylinder 4 is started;
when the second laser scanner 6 detects that the distance from the top surface of the material in the main buffering bin 3 to the detection point is smaller than a fourth distance threshold, the control center platform controls the second electric valve to close, the electric cylinder 4 stops, and the first electric valve is unlocked. The fourth distance threshold is used for controlling the amount of the material in the main buffer bin 3 to avoid overfilling.
In the technical scheme, the secondary buffer bin 7 is adopted to realize automatic supplement of materials in the main buffer bin 3, the continuous operation process of the upstream of material transportation can not be influenced, the feeding conveyor belt does not need to stop transporting the materials due to loading, the no-load rate is reduced, and the efficiency is improved.
While embodiments of the invention have been described above, it is not limited to the applications set forth in the description and the embodiments, which are fully applicable in various fields of endeavor to which the invention pertains, and further modifications may readily be made by those skilled in the art, it being understood that the invention is not limited to the details shown and described herein without departing from the general concept defined by the appended claims and their equivalents.
Claims (7)
1. Laser scanning formula train loading detection device, its characterized in that includes:
the bracket system is erected on two sides of the track;
the main buffer bin is fixed on the support system, the top of the main buffer bin is open, a first discharge pipe is arranged at the bottom of the main buffer bin, a first electric valve is arranged on the first discharge pipe, the lower end of the first discharge pipe is higher than the top of the carriage, and the main buffer bin is rectangular;
the scraping mechanism comprises a pair of electric cylinders fixed on the support system and scraping plates, two ends of each scraping plate are respectively fixed on moving ends of the pair of electric cylinders through fixing pieces, the moving direction of the moving ends of the electric cylinders is parallel to the track, and the scraping plates are positioned in the main buffer bin;
the first laser scanner is fixed on the support system and used for detecting the distance from the carriage head to a detection point at a preset frequency;
the second laser scanner is fixed on the support system and positioned above the main buffering bin, and detects the distance from the top surface of the material in the main buffering bin to a detection point at a preset frequency;
the control center platform is used for receiving data detected by the first laser scanner and the second laser scanner, denoising the data, calculating the moving speed of a carriage according to the data detected by the first laser scanner and the time when the data is detected, if the moving speed of the carriage is within a speed threshold value and the distance from the head of the carriage to a detection point is within a first distance threshold value, triggering the second laser scanner to start and the first electric valve to open, and closing the first electric valve and the second laser scanner when the difference value between the distance detected when the second laser scanner starts and the distance currently detected by the second laser scanner is within a second distance threshold value.
2. The laser scanning train loading detection apparatus of claim 1, further comprising a system for obtaining a second distance threshold comprising:
the electronic radio frequency tag is arranged on the carriage head, and the data of the electronic radio frequency tag comprises a carriage number, a total number of carriages, a loading quality threshold value and a first loading volume threshold value;
the radio frequency signal transmitting receiver is arranged on the bracket system and used for sensing the data of the electronic radio frequency tag in real time;
and the control center platform receives the data sensed by the radio frequency signal transmitting and receiving device, calculates to obtain a second loading volume threshold according to the loading quality threshold and the stacking density of the materials in the main buffering bin, compares the second loading volume threshold with the first loading volume threshold, takes the smaller value as the actual loading volume threshold of the carriage, and calculates to obtain a second distance threshold of the carriage according to the actual loading volume threshold, the relation between the descending distance of the top of the materials in the main buffering bin and the descending volume of the materials.
3. The laser scanning train loading detection apparatus as claimed in claim 1, further comprising:
if the speed of the car moving is outside the speed threshold, the change of the moving speed of the car is informed until the moving speed of the car is within the speed threshold.
4. The laser scanning train loading detection device as claimed in claim 1, wherein the denoising method comprises: and calculating the ratio of the absolute difference value of the data to be processed and the data of two adjacent detection times to the time interval, and removing the data if the ratio is greater than a preset noise value.
5. The laser scanning train loading detection device of claim 1, wherein the scraper is vertically disposed, and a lower edge of the scraper is serrated.
6. The laser scanning train loading detection apparatus as claimed in claim 1, further comprising:
when the second laser scanner detects that the distance from the top surface of the material in the main buffering bin to a detection point is greater than a third distance threshold, when the difference value between the distance detected when the second laser scanner is started and the current distance detected by the second laser scanner is within a second distance threshold, after the first electric valve is closed, the first electric valve is locked.
7. The laser scanning train loading detection apparatus as claimed in claim 6, further comprising:
the secondary buffer bin is fixed on the support system and is positioned above the main buffer bin, the top of the secondary buffer bin is open and is positioned below the feeding conveying belt so as to receive materials, a second discharging pipe is arranged at the bottom of the secondary buffer bin, the lower end of the second discharging pipe extends into the main buffer bin and is higher than the scraper, and a second electric valve is arranged on the second discharging pipe;
when the first electric valve is locked, the control center platform controls to open the second electric valve and start the electric cylinder;
when the second laser scanner detects that the distance from the top surface of the material in the main buffering bin to the detection point is smaller than a fourth distance threshold value, the control center platform controls the second electric valve to be closed, the electric cylinder stops, and the first electric valve is unlocked.
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| CN201910995412.6A CN110836636B (en) | 2019-10-18 | 2019-10-18 | Laser scanning type train loading detection device |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113636298A (en) * | 2021-07-30 | 2021-11-12 | 杭州电子科技大学 | System and method for detecting stacking state of bagged material car loader |
| CN117945186A (en) * | 2024-03-22 | 2024-04-30 | 京唐港首钢码头有限公司 | Automatic loading flatcar control system for low-speed high-precision speed measurement of train |
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| CN117945186B (en) * | 2024-03-22 | 2024-06-11 | 京唐港首钢码头有限公司 | Automatic loading flatcar control system for low-speed high-precision speed measurement of train |
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