WO2021082201A1 - 车辆装料的自动定位系统与沥青站 - Google Patents

车辆装料的自动定位系统与沥青站 Download PDF

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Publication number
WO2021082201A1
WO2021082201A1 PCT/CN2019/124758 CN2019124758W WO2021082201A1 WO 2021082201 A1 WO2021082201 A1 WO 2021082201A1 CN 2019124758 W CN2019124758 W CN 2019124758W WO 2021082201 A1 WO2021082201 A1 WO 2021082201A1
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WIPO (PCT)
Prior art keywords
vehicle
loading
positioning system
charging
automatic positioning
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PCT/CN2019/124758
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English (en)
French (fr)
Inventor
赵威威
谢忠华
任水祥
毛世民
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三一汽车制造有限公司
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Publication of WO2021082201A1 publication Critical patent/WO2021082201A1/zh

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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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G69/00—Auxiliary measures taken, or devices used, in connection with loading or unloading
    • B65G69/006—Centring or aligning a vehicle at a loading station using means not being part of the vehicle

Definitions

  • This application relates to the technical field of vehicle positioning, in particular to an automatic positioning system for vehicle loading and an asphalt station.
  • the finished product loading of the asphalt mixing plant mainly relies on the experience of the loading truck driver to adjust the distance between the truck compartment and the main building leg. This is time-consuming, laborious, inefficient, and there is a risk of collision with the main building leg. In addition, manual assistance is required during the loading process.
  • This application aims to solve at least one of the technical problems existing in the prior art.
  • the embodiment of the first aspect of the present application proposes an automatic positioning system for vehicle loading.
  • the embodiment of the second aspect of the present application proposes an asphalt station.
  • the present application proposes an automatic positioning system for vehicle loading, including: a discharge hopper, the bottom of the discharge hopper is provided with a discharge port, and the discharge port is used for discharging to Loading vehicle; outriggers, located at the lower part of the unloading hopper, used to support the unloading hopper; scanning device, located in the unloading hopper or outriggers, the scanning device is used to scan the loading vehicle to obtain the dimensional parameter characteristics of the loading vehicle;
  • the guiding device is arranged in the unloading hopper or the outrigger. The guiding device is used to provide a parking position reference for the loading vehicle according to the characteristics of the dimensional parameters.
  • the scanning device scans whether the loading vehicle has entered under the unloading hopper, and obtains the dimensional parameter characteristics of the loading vehicle.
  • the guiding device is activated and the loading
  • the charging vehicle can accurately park and locate according to the parking position reference provided by the guiding device, and because the parking position reference is provided directly, the accuracy and reliability of the charging parking position of the charging vehicle are ensured, and the unloading is reduced.
  • the automatic positioning system for vehicle loading may also have the following additional technical features:
  • the automatic positioning system for vehicle loading further includes: a loading measurement device, which is arranged in the unloading hopper or the outrigger, and the loading measurement device is used to detect the loading amount of the loading vehicle. Or loading position; the guide device updates the parking position reference according to the loading amount and/or the loading position.
  • the automatic positioning system for vehicle loading also includes a loading measurement device.
  • the guiding device is updated, and the loading vehicle can be updated according to the The rear parking position is moved by reference to avoid overflow of materials and to ensure that all positions of the loading vehicle are filled with materials.
  • the guide device includes: a fixed guide, which is arranged on the unloading hopper or the outrigger, and the fixed guide is used to provide a parking position reference for the loading vehicle in the first direction; and a mobile guide Compared with the track, the moving guide is movably arranged on the track, and the moving guide moves on the track according to the characteristics of the dimensional parameters to provide a parking position reference in the second direction for the loading vehicle; wherein the moving guide is based on the loading amount and ⁇ Or the loading position updates the parking position reference in the second direction.
  • the guide device includes a fixed guide and a mobile guide.
  • the fixed guide provides a parking position reference in the first direction for the loading vehicle
  • the mobile guide provides a parking position reference in the second direction for the loading vehicle.
  • the loading vehicle moves with reference to the parking position in the first direction, and stops moving according to the parking position in the second direction to complete the positioning operation.
  • the automatic positioning system for vehicle loading further includes: a detection device arranged in the unloading hopper or the outrigger, and the detection device is used to detect whether the position of the loading vehicle is accurate.
  • the automatic positioning system for vehicle loading also includes a detection device for detecting whether the position of the loading vehicle is accurate, so as to ensure the smooth progress of unloading.
  • the automatic positioning system for vehicle loading further includes: an alarm device, which is arranged in the unloading hopper or the outrigger, and the alarm device is used for detecting the result of the loading measuring device and the detection device The detection result is an alarm.
  • the alarm device issues a warning of inaccurate positioning, or when the detection device detects that the location of the loading vehicle is accurate, the alarm device issues a warning of accurate positioning .
  • the scanning device, the guiding device and the detecting device are all laser devices; or the scanning device is an infrared device, and the guiding device and the detecting device are all laser devices.
  • the scanning device, the guiding device and the detection device are all laser devices, which scan by emitting laser to provide a parking position reference for the loading vehicle, or the scanning device is an infrared device, and the guiding device and the detection device are both laser devices.
  • Scan by emitting infrared rays provide a parking position reference for the loading vehicle through laser, and detect whether the loading vehicle is positioned accurately, and the laser device or infrared device is small in size and easy to move.
  • the charging measuring device determines the charging amount and/or the charging position according to the height of the material.
  • the charging measuring device determines the charging amount and/or the charging position according to the height of the material, thereby avoiding the hidden safety hazards caused by the height of the material on the one hand, and ensuring the loading of the charging vehicle on the other hand. the amount.
  • the dimensional parameter features are specifically: the length of the loading area of the loading vehicle in the second direction, and the length of the non-loading area of the loading vehicle in the second direction .
  • the dimensional parameter features include the length of the loading area of the charging vehicle in the second direction, and the length of the non-receiving area of the loading vehicle in the second direction.
  • the number of times of updating the parking position reference is the ratio of the length of the material receiving area in the second direction to the length of the discharge port in the second direction.
  • the number of times to update the parking position reference is determined according to the ratio of the length of the loading area of the loading vehicle in the second direction to the length of the discharge port in the second direction, so as to ensure that the entire loading area is filled
  • the materials all reach the predetermined height to ensure that the charging vehicle has a certain amount of material and/or the position of the material.
  • the present application proposes an asphalt station, including: a mixing host, an aggregate silo, a powder silo, an asphalt tank, a drying drum, and a finished product silo; it also includes any of the above technical solutions
  • the automatic positioning system for vehicle loading described in item wherein, the drum-dried aggregate, mixed asphalt and powder are stirred in the mixing host to form a finished product, which is stored in the finished product warehouse, and a discharge hopper is arranged at the lower part of the finished product warehouse.
  • the asphalt station proposed in this application includes the automatic positioning system for vehicle loading as described in any of the above technical solutions, it is equipped with the automatic positioning system for vehicle loading as described in any of the above technical solutions. All the beneficial effects will not be stated here.
  • Figure 1 shows a schematic structural diagram of an automatic positioning system for vehicle loading provided by an embodiment of the first aspect of the present application
  • Figure 2 shows a bottom view of the automatic positioning system for vehicle loading as shown in Figure 1;
  • Fig. 3 shows a schematic diagram of the structure of the automatic positioning system for vehicle charging and the charging vehicle as shown in Fig. 1;
  • Fig. 4 shows a bottom view of the automatic positioning system for vehicle charging as shown in Fig. 3 and the charging vehicle.
  • 100 automatic positioning system for vehicle loading 110 discharge hopper, 112 discharge port, 120 legs, 130 scanning device, 140 guide device, 142 fixed guide, 144 mobile guide, 146 rail, 150 loading measuring device, 160 Detection device, 162 detection unit one, 164 detection unit two, 170 alarm device, 172 alarm indicator light 1, 174 alarm indicator light 2, 200 loading vehicles, 210 loading area, 220 non-loading area.
  • the present application provides an automatic positioning system 100 for vehicle loading, including: a discharge hopper 110, and a discharge port 112 is provided at the bottom of the discharge hopper 110
  • the discharge port 112 includes a notch provided at the bottom of the discharge hopper 110, and a discharge door that can be opened or closed.
  • the discharge port 112 is used to discharge to the loading vehicle 200; the outriggers 120 are arranged at the lower part of the discharge hopper 110.
  • the scanning device 130 Used to support the unloading hopper; the scanning device 130, set on the unloading hopper 110 or the leg 120, the scanning device 130 is used to scan the loading vehicle 200 to obtain the dimensional parameter characteristics of the loading vehicle 200; the guiding device 140 is set at On the unloading hopper 110 or the outrigger 120, the guiding device 140 is used to provide a parking position reference for the charging vehicle 200 according to the dimensional parameter characteristics.
  • leg 120 and the unloading hopper 110 are connected by welding, or the leg 120 is inserted into the unloading hopper 110, or the leg 120 and the unloading hopper 110 are fixed by connecting members such as screws.
  • the automatic positioning system 100 for vehicle loading includes: a discharge hopper 110, a support leg 120, a scanning device 130 and a guiding device 140, wherein the scanning device 130 and the guiding device 140 are arranged on the discharge hopper 110 or the support leg 120 ,
  • the scanning device 130 scans the area below the unloading hopper 110, and after finding that the loading vehicle 200 enters, obtains the size parameter characteristics of the loading vehicle 200, and then the guiding device 140 is turned on, according to the size parameter characteristics of the different loading vehicles 200 Provides different parking position references for the loading vehicle 200.
  • the loading vehicle 200 can be parked according to its own parking position, and then accurately stay under the discharge port 112, and then open the discharge port 112 to discharge the material in the hopper 110
  • the loading vehicle 200 is unloaded from the unloading port 112, and then the different loading vehicles 200 are guided to park accurately through the guide device 140.
  • the positioning is accurate, time-saving, labor-saving, high-efficiency, high reliability, no manual guidance, and avoidance Risk of collision with outrigger 120.
  • the dimensional parameter features include the length of the loading area 210 of the charging vehicle 200 in the second direction, and the length of the non-receiving area 220 of the loading vehicle 200 in the second direction.
  • the truck includes a cab and a carriage.
  • the carriage is the loading area 210 and the cab is the non-carrying area 220.
  • the guiding device 140 positions the carriage at the discharge port according to the scanning result of the scanning device 130. 112, while avoiding the position of the cab.
  • the human-powered cart includes a bucket and a handle.
  • the bucket is the material-bearing area 210 and the handle is the non-material-bearing area 220.
  • the guiding device 140 positions the bucket on the discharge according to the scanning result of the scanning device 130. Under the mouth 112, while avoiding the position of the handle.
  • the automatic positioning system 100 for vehicle loading further includes: a loading measuring device 150, which is arranged on the unloading hopper 110 or the leg 120, and the loading measuring device 150 is used to detect the loading The charging amount and/or charging position of the vehicle 200; the guiding device 140 updates the parking position reference according to the charging amount and/or the charging position.
  • a loading measuring device 150 which is arranged on the unloading hopper 110 or the leg 120, and the loading measuring device 150 is used to detect the loading The charging amount and/or charging position of the vehicle 200; the guiding device 140 updates the parking position reference according to the charging amount and/or the charging position.
  • the automatic positioning system 100 for vehicle loading also includes a loading measuring device 150.
  • the area of the unloading port 112 is much smaller than the area of the loading area of the loading vehicle 200. Therefore,
  • the charging measuring device 150 detects that the loading amount of the charging vehicle 200 at a position meets the preset amount, it updates the parking position reference, thereby prompting the charging vehicle 200 to re-park according to the updated parking position reference, and then re-park the charging vehicle. Loading is performed at other positions of 200 to fill the entire loading vehicle 200 at one time.
  • the charging measuring device 150 determines the charging amount and/or the charging position according to the height of the material.
  • the charging measuring device 150 detects the height of the material in the charging vehicle 200, and when the material reaches a preset height, it is determined that the charging of the charging vehicle 200 at this position has been completed, and then the parking position reference is updated.
  • the number of times of updating the parking position reference is the ratio of the length of the receiving area 210 in the second direction to the length of the discharge port 112 in the second direction.
  • the length of the material receiving area 210 in the second direction is obtained, and the ratio of the two is determined in combination with the length of the discharge port 112 in the second direction input in advance. Furthermore, the number of updates for the parking position reference is determined. After the last update of the number of updates is completed, it is determined that the loading vehicle 200 has been loaded, and the unloading port 112 is closed.
  • the number of updates is an integer digit of the ratio.
  • the discharge port 112 may be closed or opened.
  • the automatic positioning system 100 for vehicle loading further includes: a detection device 160, which is arranged on the unloading hopper 110 or the outrigger 120, and the detection device 160 is used to detect the position of the loading vehicle 200 Is it accurate?
  • the automatic positioning system 100 for vehicle loading further includes a detection device 160 to detect whether the position of the loading vehicle 200 is accurate, so as to improve the reliability of positioning.
  • the detection device 160 may include: a detection unit 162 and a detection unit 164, and the specific number of the detection unit 162 and the detection unit 164 may be one or more.
  • the automatic positioning system 100 for vehicle loading further includes: an alarm device 170, which is arranged on the unloading hopper 110 or the outrigger 120, and the alarm device 170 is used according to the loading measurement device 150
  • the detection result and the detection result of the detection device 160 issue an alarm.
  • the alarm device 170 issues a warning of inaccurate positioning, or when the detection device 160 detects that the position of the charging vehicle 200 is accurate, the alarm device 170 issued a warning of accurate positioning.
  • the alarm device 170 is an alarm indicator light
  • different colors of lights can be set, that is, when the detection device 160 detects that the position of the loading vehicle 200 is inaccurate, the alarm indicator light emits a color of light; When it is detected that the position of the loading vehicle 200 is accurate, the warning indicator light emits a light of another color.
  • the commonly used red light or yellow light represents the warning of inaccurate positioning
  • the green light represents the warning of accurate positioning.
  • alarm indicator light one 172 and alarm indicator lamp two 174 may be multiple alarm indicator lights, including alarm indicator light one 172 and alarm indicator lamp two 174 to ensure the radiation range of the warning and ensure that the driver can observe the alarm indicator light.
  • the alarm device 170 is an alarm speaker, and different audio can be set, that is, when the detection device 160 detects that the position of the charging vehicle 200 is inaccurate, the alarm speaker emits an audio; when the detection device 160 detects the position of the charging vehicle 200 When accurate, the alarm speaker emits another audio. Among them, frequently used audio with rapid sound represents inaccurate positioning warning, and long-sound audio represents warning with accurate positioning.
  • the alarm device 170 can issue a warning different from inaccurate positioning and a warning of accurate positioning, so as to automatically recognize whether the material is full.
  • the guide device 140 includes: a fixed guide 142, which is arranged on the unloading hopper 110 or the leg 120, the fixed guide 142 is used to provide a parking position reference for the loading vehicle 200 in the first direction; the moving guide 144 and the track 146.
  • the guide rail is arranged in the unloading hopper 110, and the moving guide 144 is movably arranged on the track 146.
  • the moving guide 144 moves on the track 146 according to the characteristics of the dimensional parameters, so as to provide a parking position reference for the charging vehicle 200 in the second direction. ; Wherein, the moving guide 144 updates the parking position reference in the second direction according to the charging amount and/or the charging position.
  • one position can be located in two directions in a plane coordinate system, that is, a standard in the Y-axis direction (first direction) and a standard in the X-axis direction (second direction).
  • first direction a standard in the Y-axis direction
  • second direction a standard in the X-axis direction
  • the forward direction of the truck is limited by the fixed guide 142, and the moving guide 144 determines the forward distance of the truck according to the length of the cab and the carriage of the truck, so as to ensure that the truck stops at a position where it can be filled with materials.
  • the moving guide 144 moves different distances on the track 146 according to different conditions of different charging vehicles 200, so as to ensure the accuracy of positioning for different charging vehicles 200.
  • the initial position of the moving guide 144 can be below the end of the discharge port 112 away from the scanning device 130; and the number of the fixed guide 142 can be multiple, so as to limit the loading vehicle 200 on both sides of the loading vehicle 200.
  • the position in the first direction for example: 2, 4, etc.
  • the number of the fixed guide 142 may also be one.
  • one moving guide 144 is usually provided.
  • multiple moving guides 144 can also be provided according to actual conditions.
  • the scanning device 130, the guiding device 140 and the detecting device 160 are all laser devices; or the scanning device 130 is an infrared device, and the guiding device 140 and the detecting device 160 are all laser devices.
  • the scanning device 130, the guiding device 140, and the detecting device 160 are all laser devices.
  • the laser device emits laser light quickly without the operation of mechanical parts. Its guiding speed is fast and will not be affected by gravity, wind, etc. Offset occurs, and the positioning effect is accurate; or the scanning device 130 is an infrared device, and the guiding device 140 and the detection device 160 are both laser devices.
  • the infrared light emits laser quickly without the operation of mechanical parts, and its guiding speed is fast, and it will not be affected by gravity. Offset caused by the influence of, wind, etc., and the positioning effect is accurate.
  • the guiding device 140 when the guiding device 140 is a laser device, it can emit a colored laser beam to form a laser marking line on the ground or a reference, and the charging vehicle 200 can park according to the laser marking line.
  • a coordinate system is established in the figure, including the X axis and the Y axis.
  • the fixed laser (fixed guide 142) and the moving laser (mobile guide 144) are activated, that is, the fixed laser (fixed guide 142) will project two laser beams parallel to the X axis on the ground and move The laser (moving guide 144) will project a beam parallel to the Y axis on the ground and on both sides.
  • the length of the entire vehicle is scanned as A+B, and the height difference between the empty vehicle compartment and the cab is used to scan the corresponding lengths A and B respectively.
  • a ratio will be calculated based on the length A of the detection carriage and the length C of the discharge port 112 set by the system. I.e. the number of times the vehicle needs to move
  • the cab length B is fed back to the moving laser (moving guide 144), so that the moving laser moves the distance B to the right with the right end of the discharge port 112 as the reference point.
  • the truck driver will center the carriage according to the fixed laser beam and drive forward slowly, and during this process, the detection laser a (detection unit one 162) and the detection laser c (detection unit two) in the detection device 160 164)
  • the alarm indicator light (alarm device 170) starts to work.
  • the alarm indicator light stops working until the front of the cab coincides with the moving laser beam Just stop moving forward.
  • detection laser a detection unit one 162
  • detection laser b loading measuring device 150
  • detection laser c detection unit two 164
  • the moving laser (moving guide 144) and the alarm indicator (alarm device 170) start working at the same time at the same time, and the moving laser (moving guide 144) moves to the right by a distance C.
  • the alarm indicator (alarm device 170) will also stop working again, in front of the cab.
  • the detection laser b (loading measuring device 150) can be used as two functions, not only can detect whether the charging vehicle 200 is positioned accurately, but also can measure the charging amount and/or charging position of the charging vehicle 200.
  • the automatic positioning system 100 for vehicle loading provided in this application can automatically detect the length of the vehicle through infrared or laser beam; and automatically feedback the parking position of the vehicle through the laser beam; or automatically recognize the loading situation through laser detection; and pass an alarm Indicator light to assist vehicle parking positioning.
  • the present application provides an asphalt station, including: a mixing host, an aggregate silo, a powder silo, an asphalt tank, a drying drum, and a finished product warehouse;
  • the automatic positioning system 100 for vehicle loading wherein, the drum-dried aggregate, mixed asphalt and powder are stirred in the mixing host to form a finished product, which is stored in the finished product warehouse, and the lower part of the finished product warehouse is provided with a discharge hopper.
  • the asphalt station provided in this application includes the automatic positioning system 100 for vehicle loading as provided in any of the above embodiments, it has all the benefits of the automatic positioning system 100 for vehicle loading provided by any of the above embodiments. The effect will not be stated one by one here.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Charge And Discharge Circuits For Batteries Or The Like (AREA)
  • Road Paving Machines (AREA)

Abstract

一种车辆装料的自动定位系统与沥青站，车辆装料的自动定位系统（100）包括：卸料斗（110），卸料斗（110）底部设置有卸料口（112），卸料口（112）用于卸料至装料车辆（200）；支腿（120），设于卸料斗（110）的下部，用于支撑卸料斗（110）；扫描装置（130），设于卸料斗（110）或支腿（120），扫描装置（130）用于扫描装料车辆（200），以得到装料车辆（200）的尺寸参数特征；导向装置（140），设于卸料斗（110）或支腿（120），导向装置（140）用于根据尺寸参数特征为装料车辆（200）提供停放位置参照。扫描装置（130）扫描装料车辆（200）是否进入卸料斗（110）下方，并获取装料车辆（200）的尺寸参数特征，装料车辆（200）可根据导向装置（140）提供的停放位置参照进行准确地停车定位，而由于直接提供了停放位置参照，进而保证了装料车辆（200）装料位置的准确性与可靠性。

Description

车辆装料的自动定位系统与沥青站
本申请要求于2019年10月31日提交中国专利局、申请号为“201911049957.4”、发明名称为“车辆装料的自动定位系统与沥青站”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本申请涉及车辆定位技术领域，具体而言，涉及一种车辆装料的自动定位系统与一种沥青站。
背景技术
目前，沥青搅拌站的成品装料主要依靠装料卡车司机的经验，自行调整卡车车厢与主楼支腿之间的间距，这样费时费力、效率低，存在对偏碰撞主楼支腿的风险。此外，装料过程当中需要人工辅助。
发明内容
本申请旨在至少解决现有技术中存在的技术问题之一。
为此，本申请的第一方面实施例提出了一种车辆装料的自动定位系统。
本申请的第二方面实施例提出了一种沥青站。
有鉴于此，根据本申请的第一方面实施例，本申请提出了一种车辆装料的自动定位系统，包括：卸料斗，卸料斗底部设置有卸料口，卸料口用于卸料至装料车辆；支腿，设于卸料斗的下部，用于支撑卸料斗；扫描装置，设于卸料斗或支腿，扫描装置用于扫描装料车辆，以得到装料车辆的尺寸参数特征；导向装置，设于卸料斗或支腿，导向装置用于根据尺寸参数特征为装料车辆提供停放位置参照。
本申请提出的车辆装料的自动定位系统，扫描装置扫描装料车辆是否进入卸料斗下方，并获取装料车辆的尺寸参数特征，在装料车辆进入卸料斗的下方后，导向装置启动，装料车辆可根据导向装置提供的停放位置参照进行准确地进行停车定位，而由于直接提供了停放位置参照，进而保证 了装料车辆装料停放位置的准确性与可靠性，且，降低了卸料时装料车辆的停车难度，避免人为经验判断所带来的误差与不确定性。
另外，根据本申请上述实施例的车辆装料的自动定位系统，还可以具有如下附加的技术特征：
在上述技术方案的基础上，进一步地，车辆装料的自动定位系统还包括：装料测量装置，设于卸料斗或支腿，装料测量装置用于检测装料车辆的装料量和\或装料位置；导向装置根据装料量和\或装料位置更新停放位置参照。
在该技术方案中，车辆装料的自动定位系统还包括装料测量装置，当装料车辆的装料量和\或装料位置到达预设量时，导向装置更新，装料车辆可根据更新后的停放位置参照移动，以避免物料的溢出，以及确保装料车辆的各个位置均装填物料。
在上述任一技术方案的基础上，进一步地，导向装置包括：固定导向件，设于卸料斗或支腿，固定导向件用于为装料车辆提供第一方向的停放位置参照；移动导向件与轨道，移动导向件可移动地设于轨道，移动导向件根据尺寸参数特征，在轨道上进行移动，以为装料车辆提供第二方向的停放位置参照；其中，移动导向件根据装料量和\或装料位置更新第二方向的停放位置参照。
在该技术方案中，导向装置包括：固定导向件与移动导向件，固定导向件为装料车辆提供第一方向的停放位置参照，移动导向件为装料车辆提供第二方向的停放位置参照，装料车辆沿第一方向的停放位置参照移动，并根据第二方向的停放位置参照停止移动，进而完成定位作业。
在上述任一技术方案的基础上，进一步地，车辆装料的自动定位系统还包括：检测装置，设于卸料斗或支腿，检测装置用于检测装料车辆的位置是否准确。
在该技术方案中，车辆装料的自动定位系统还包括检测装置，用于检测装料车辆的位置是否准确，以确保卸料的顺利进行。
在上述任一技术方案的基础上，进一步地，车辆装料的自动定位系统还包括：警报装置，设于卸料斗或支腿，警报装置用于根据装料测量装置 的检测结果以及检测装置的检测结果发出警报。
在该技术方案中，当检测装置检测到装料车辆的位置不准确时，警报装置发出定位不准确的警告，或当检测装置检测到装料车辆的位置准确时，警报装置发出定位准确的警告。
在上述任一技术方案的基础上，进一步地，扫描装置、导向装置与检测装置均为激光器件；或扫描装置为红外线器件，导向装置与检测装置均为激光器件。
在该技术方案中，扫描装置、导向装置与检测装置均为激光器件，通过发射激光进行扫描，为装料车辆提供停放位置参照，或扫描装置为红外线器件，导向装置与检测装置均为激光器件，通过发射红外线进行扫描，通过激光为装料车辆提供停放位置参照，以及检测装料车辆是否定位准确，且激光器件或红外线器件的体积小巧，便于移动。
在上述任一技术方案的基础上，进一步地，装料测量装置根据物料的高度确定装料量和\或装料位置。
在该技术方案中，装料测量装置根据物料的高度确定装料量和\或装料位置，进而一方面避免物料的高度所带来的安全隐患，另一面也确保了装料车辆的装料量。
在上述任一技术方案的基础上，进一步地，尺寸参数特征具体为：装料车辆的承料区域在第二方向上的长度，以及装料车辆的非承料区域在第二方向上的长度。
在该技术方案中，尺寸参数特征包括装料车辆承料区域在第二方向上的长度，以及装料车辆非承料区域在第二方向上的长度。
在上述任一技术方案的基础上，进一步地，停放位置参照的更新次数为承料区域在第二方向上的长度与卸料口在第二方向上的长度的比值。
在该技术方案中，根据装料车辆承料区域在第二方向上的长度与卸料口在第二方向上的长度的比值确定停放位置参照的更新次数，以保证整个承料区域所装填的物料均到达预定高度，保证装料车辆具有一定的装料量和\或装料位置。
根据本申请的第二方面实施例，本申请提出了一种沥青站，包括：搅 拌主机、骨料仓、粉料仓、沥青罐、干燥滚筒、成品仓；还包括如上述技术方案中任一项所述的车辆装料的自动定位系统；其中，干燥滚筒烘干后的骨料，混合沥青、粉料在搅拌主机中搅拌形成成品料，存储在成品仓中，成品仓下部设置卸料斗。
本申请提出的沥青站，因包括如上述技术方案中任一项所述的车辆装料的自动定位系统，因此，具有如上述技术方案中任一项所述的车辆装料的自动定位系统的全部有益效果，在此不再一一陈述。
本申请的附加方面和优点将在下面的描述部分中变得明显，或通过本申请的实践了解到。
附图说明
本申请的上述和/或附加的方面和优点从结合下面附图对实施例的描述中将变得明显和容易理解，其中：
图1示出本申请第一方面实施例提供的车辆装料的自动定位系统的结构示意图；
图2示出如图1所示的车辆装料的自动定位系统的仰视图；
图3示出如图1所示车辆装料的自动定位系统与装料车辆的结构示意图；
图4示出如图3所示车辆装料的自动定位系统与装料车辆的仰视图。
其中，图1至图4中附图标记与部件名称之间的对应关系为：
100车辆装料的自动定位系统，110卸料斗，112卸料口，120支腿，130扫描装置，140导向装置，142固定导向件，144移动导向件，146轨道，150装料测量装置，160检测装置，162检测单元一，164检测单元二，170警报装置，172警报指示灯一，174警报指示灯二，200装料车辆，210承料区域，220非承料区域。
具体实施方式
为了能够更清楚地理解本申请的上述目的、特征和优点，下面结合附图和具体实施方式对本申请进行进一步的详细描述。需要说明的是，在不 冲突的情况下，本申请的实施例及实施例中的特征可以相互组合。
在下面的描述中阐述了很多具体细节以便于充分理解本申请，但是，本申请还可以采用其他不同于在此描述的其他方式来实施，因此，本申请的保护范围并不受下面公开的具体实施例的限制。
下面参照图1至图4描述根据本申请一些实施例提供的车辆装料的自动定位系统100与沥青站。
如图1至图4所示，根据本申请的第一方面实施例，本申请提供了一种车辆装料的自动定位系统100，包括：卸料斗110，卸料斗110底部设置有卸料口112，卸料口112包括设置在卸料斗110底部的缺口，以及可开启或闭合的卸料门，卸料口112用于卸料至装料车辆200；支腿120，设置在卸料斗110的下部，用于支撑卸料斗；扫描装置130，设置在卸料斗110或支腿120上，扫描装置130用于扫描装料车辆200，以得到装料车辆200的尺寸参数特征；导向装置140，设置在卸料斗110或支腿120上，导向装置140用于根据尺寸参数特征为装料车辆200提供停放位置参照。
其中，支腿120与卸料斗110通过焊接连接，或支腿120与卸料斗110插接，或支腿120与卸料斗110通过螺钉等连接件固定。
本申请提供的车辆装料的自动定位系统100，包括：卸料斗110、支腿120、扫描装置130与导向装置140，其中，扫描装置130与导向装置140设置在卸料斗110或支腿120上，扫描装置130对卸料斗110下方区域进行扫描，在发现有装料车辆200进入后，获取装料车辆200的尺寸参数特征，之后，导向装置140开启，根据不同装料车辆200的尺寸参数特征为装料车辆200提供不同的停放位置参照，装料车辆200可按自身的停放位置参照停靠，进而准确地停留在卸料口112的下方，再开启卸料口112，卸料斗110内的物料由卸料口112卸载装填进装料车辆200，进而通过导向装置140引导不同的装料车辆200进行准确的停靠，定位精准，省时省力效率高，可靠性好、无需人工引导，且避免了碰撞支腿120的风险。
具体地，如图3与图4所示，其中，为方便描述这里如图4所示，在图中建立坐标系，包括X轴与Y轴，尺寸参数特征具体为：装料车辆200的承料区域210在第二方向上的长度A(X轴方向上的长度)，以及装料 车辆200的非承料区域220在第二方向上的长度B(X轴方向上的长度)。
在该实施例中，尺寸参数特征包括装料车辆200承料区域210在第二方向上的长度，以及装料车辆200非承料区域220在第二方向上的长度。
例如：以卡车为例，卡车包括驾驶室与车厢，其中，车厢为承料区域210，驾驶室为非承料区域220，导向装置140根据扫描装置130的扫描结果，将车厢定位在卸料口112下，而避过驾驶室的位置。
以人力推车为例，人力推车包括车斗与把手，车斗为承料区域210，把手为非承料区域220，导向装置140根据扫描装置130的扫描结果，将车斗定位在卸料口112下，而避过把手的位置。
进一步地，如图1至图4所示，车辆装料的自动定位系统100还包括：装料测量装置150，设置在卸料斗110或支腿120上，装料测量装置150用于检测装料车辆200的装料量和\或装料位置；导向装置140根据装料量和\或装料位置更新停放位置参照。
在该实施例中，车辆装料的自动定位系统100还包括装料测量装置150，通常在实际应用中，卸料口112的面积远小于装料车辆200的可承料区的面积，因此，装料测量装置150在检测到装料车辆200在一个位置的装填量满足预设量时，更新停放位置参照，进而促使装料车辆200根据更新后的停放位置参照重新停靠，再对装料车辆200的其他位置进行装填，以一次性装填整个装料车辆200。
具体地，装料测量装置150根据物料的高度确定装料量和\或装料位置。
在该实施例中，装料测量装置150检测装料车辆200内物料的高度，当物料达到预设高度后，则判定装料车辆200在这一位置的装填已完成，再更新停放位置参照。
更具体地，停放位置参照的更新次数为承料区域210在第二方向上的长度与卸料口112在第二方向上的长度的比值。
在该实施例中，根据扫描装置130的扫描结果，获得承料区域210在第二方向上的长度，再结合事先输入的卸料口112在第二方向上的长度，确定两者的比值，进而确定停放位置参照的更新次数，在更新次数的最后一次完成后，判定该装料车辆200已装填完成，则关闭卸料口112。
其中，更新次数取比值的整数数位。
具体地，在停放位置参照更新时，卸料口112可闭合或开启。
进一步地，如图1至图4所示，车辆装料的自动定位系统100还包括：检测装置160，设置在卸料斗110或支腿120上，检测装置160用于检测装料车辆200的位置是否准确。
在该实施例中，车辆装料的自动定位系统100还包括检测装置160，以检测装料车辆200的位置是否准确，进而提升定位的可靠性。
其中，检测装置160可以包括：检测单元一162与检测单元二164，而检测单元一162与检测单元二164的具体数量可以为一个或多个。
进一步地，如图1至图4所示，车辆装料的自动定位系统100还包括：警报装置170，设置在卸料斗110或支腿120上，警报装置170用于根据装料测量装置150的检测结果以及检测装置160的检测结果发出警报。
在该实施例中，当检测装置160检测到装料车辆200的位置不准确时，警报装置170发出定位不准确的警告，或当检测装置160检测到装料车辆200的位置准确时，警报装置170发出定位准确的警告。
例如：警报装置170为警报指示灯，则可以在设置不同颜色的灯光，即在检测装置160检测到装料车辆200的位置不准确时，警报指示灯发出一种颜色的灯光；在检测装置160检测到装料车辆200的位置准确时，警报指示灯发出另一种颜色的灯光。其中，常用的，以红色灯光或黄色灯光代表定位不准确的警告，以绿色灯光代表定位准确的警告。
并且，如图2与图4所示，警报指示灯可以为多个，包括警报指示灯一172与警报指示灯二174，以保证警告的辐射范围，确保司机可以观察到警报指示灯。
警报装置170为警报扬声器，则可以在设置不同音频，即在检测装置160检测到装料车辆200的位置不准确时，警报扬声器发出一种音频；在检测装置160检测到装料车辆200的位置准确时，警报扬声器发出另一种音频。其中，常用的，以声音急促的音频代表定位不准确的警告，以声音悠长的音频代表定位准确的警告。
以及，在装料车辆200全部装填完成后，警报装置170可发出不同于 定位不准确的警告以及定位准确的警告，以实现自动识别物料是否装满。
进一步具体地，导向装置140包括：固定导向件142，设置在卸料斗110或支腿120，固定导向件142用于为装料车辆200提供第一方向的停放位置参照；移动导向件144与轨道146，导轨设置在卸料斗110，移动导向件144可移动地设于轨道146，移动导向件144根据尺寸参数特征，在轨道146上进行移动，以为装料车辆200提供第二方向的停放位置参照；其中，移动导向件144根据装料量和\或装料位置更新第二方向的停放位置参照。
在该实施例中，根据定位的规则，在一个平面坐标系中，两个方向可以定位一个位置，即一个Y轴方向(第一方向)的标准，一个X轴方向(第二方向)的标准，进而以卡车为例，通过固定导向件142，限定卡车的前进方向，而移动导向件144根据卡车的驾驶室与车厢的长度确定卡车的前进距离，进而保证卡车停靠在一个可以装填物料的位置，并且，移动导向件144根据不同的装料车辆200的不同情况，在轨道146上移动不同的距离，以实现对不同的装料车辆200均保证定位的准确性。
其中，移动导向件144的初始位置可在卸料口112远离扫描装置130一端的下方；且固定导向件142的数量可以为多个，以在装料车辆200的两侧限定装料车辆200在第一方向的位置，例如：2个、4个等，当然固定导向件142的数量也可以为1个。
而移动导向件144为了避免混淆，通常设置一个即可，当然，也可以根据实际情况设置多个移动导向件144。
更具体地，扫描装置130、导向装置140与检测装置160均为激光器件；或扫描装置130为红外线器件，导向装置140与检测装置160均为激光器件。
在该实施例中，扫描装置130、导向装置140与检测装置160均为激光器件，激光器件快速的发射激光，无需机械零件的运转，其导向速度快，且不会受重力、风力等影响而产生偏移，定位效果精确；或扫描装置130为红外线器件，导向装置140与检测装置160均为激光器件，红外线快速的发射激光，无需机械零件的运转，其导向速度快，且不会受重力、风力 等影响而产生偏移，定位效果精确。
其中，导向装置140为激光器件时可发出有色的激光束，在地面或基准上形成激光标线，装料车辆200可按激光标线进行停靠。
在具体实施例中，如图3与图4所示，其中，为方便描述这里如图4所示，在图中建立坐标系，包括X轴与Y轴，当卡车驶入入口激光扫描点(扫描装置130)时，固定激光(固定导向件142)与移动激光(移动导向件144)激活工作，即固定激光(固定导向件142)会在地面投影两束平行于X轴的激光射线，移动激光(移动导向件144)会在地面与两侧投影一束平行于Y轴的射线。当整车通过入口激光扫描点时，扫描整车的长度为A+B、并利用空车车厢与驾驶室高度差，分别扫描出对应的长度A、B。此时通过控制器或控制室的计算机运算，会根据检测车厢的长度A与系统设置的卸料口112的长度C，计算出一个比值
Figure PCTCN2019124758-appb-000001
即车辆需要移动的次数
Figure PCTCN2019124758-appb-000002
同时将驾驶室长度B反馈给移动激光(移动导向件144)，使移动激光以卸料口112右端为基准点，向右移动距离B。在移动激光移动过程当中，卡车司机会根据固定激光束对中车厢缓慢向前行驶，并且在此过程当中，检测装置160中的检测激光a(检测单元一162)与检测激光c(检测单元二164)检测有较大数据变化时，报警指示灯(警报装置170)启动工作，当两者数据恢复在一定小范围内变化时，报警指示灯停止工作，直至驾驶室前部与移动激光束重合就停止前行。
此时检测激光a(检测单元一162)、检测激光b(装料测量装置150)、检测激光c(检测单元二164)的数值会稳定并停留在一个差值很小的区间范围内，并反馈给控制室，然后打开成品仓卸料门。在卡车装料过程当中，检测激光b(装料测量装置150)也会实时监测车厢料位变化，当料位达到设定的高度时，反馈给控制器或控制室并关闭成品仓的卸料门，与此同时移动激光(移动导向件144)与报警指示灯(警报装置170)再次同时启动工作，并且移动激光(移动导向件144)向右移动的距离为C。检测激光a(检测单元一162)与检测激光c(检测单元二164)所检测的数据再次恢复在一定小范围内变化时，报警指示灯(警报装置170)也将再次停止工作，驾驶室前部与移动激光束再次重合车辆就停止前行，整个过程总共循 环操作
Figure PCTCN2019124758-appb-000003
次。
其中，
Figure PCTCN2019124758-appb-000004
取整数数位；检测激光b(装料测量装置150)可作为两种功能使用，既可以检测装料车辆200是否定位准确，又可以测量装料车辆200的装料量和\或装料位置。
本申请提供的车辆装料的自动定位系统100可通过红外线或激光线束，自动检测车辆长度；并通过激光线束，自动反馈车辆停靠位置点；或通过激光检测，自动识别装料情况；并通过报警指示灯，辅助车辆停靠定位。
根据本申请的第二方面实施例，本申请提供了一种沥青站，包括：搅拌主机、骨料仓、粉料仓、沥青罐、干燥滚筒、成品仓；还包括如上述任一实施例提供的车辆装料的自动定位系统100；其中，干燥滚筒烘干后的骨料，混合沥青、粉料在搅拌主机中搅拌形成成品料，存储在成品仓中，成品仓下部设置卸料斗。
本申请提供的沥青站，因包括如上述任一实施例所提供的车辆装料的自动定位系统100，因此，具有如上述任一实施例所提供的车辆装料的自动定位系统100的全部有益效果，在此不再一一陈述。
在本申请中，术语“安装”、“相连”、“连接”、“固定”等术语均应做广义理解，例如，“连接”可以是固定连接，也可以是可拆卸连接，或一体地连接；“相连”可以是直接相连，也可以通过中间媒介间接相连。对于本领域的普通技术人员而言，可以根据具体情况理解上述术语在本申请中的具体含义。
在本说明书的描述中，术语“一个实施例”、“一些实施例”、“具体实施例”等的描述意指结合该实施例或示例描述的具体特征、结构、材料或特点包含于本申请的至少一个实施例或示例中。在本说明书中，对上述术语的示意性表述不一定指的是相同的实施例或实例。而且，描述的具体特征、结构、材料或特点可以在任何的一个或多个实施例或示例中以合适的方式结合。
以上所述仅为本申请的优选实施例而已，并不用于限制本申请，对于本领域的技术人员来说，本申请可以有各种更改和变化。凡在本申请的精 神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本申请的保护范围之内。

Claims (10)

  1. 一种车辆装料的自动定位系统，其中，包括：
    卸料斗，所述卸料斗底部设置有卸料口，所述卸料口用于卸料至装料车辆；
    支腿，设于所述卸料斗的下部，用于支撑所述卸料斗；
    扫描装置，设于所述卸料斗或所述支腿，所述扫描装置用于扫描装料车辆，以得到所述装料车辆的尺寸参数特征；
    导向装置，设于所述卸料斗或所述支腿，所述导向装置用于根据所述尺寸参数特征为装料车辆提供停放位置参照。
  2. 根据权利要求1所述的车辆装料的自动定位系统，其中，还包括：
    装料测量装置，所述装料测量装置用于测量所述装料车辆的装料量和\或装料位置；
    所述导向装置根据所述装料量和\或装料位置更新所述停放位置参照。
  3. 根据权利要求2所述的车辆装料的自动定位系统，其中，所述导向装置包括：
    固定导向件，设于所述卸料斗或所述支腿，所述固定导向件用于为所述装料车辆提供第一方向的停放位置参照；
    移动导向件与轨道，所述移动导向件可移动地设于所述轨道，所述移动导向件根据所述尺寸参数特征，在所述轨道上进行移动，以为所述装料车辆提供第二方向的停放位置参照；
    所述移动导向件根据所述装料量和\或装料位置更新第二方向的停放位置参照。
  4. 根据权利要求3所述的车辆装料的自动定位系统，其中，还包括：
    检测装置，设于所述卸料斗或所述支腿，所述检测装置用于检测所述装料车辆的位置是否准确。
  5. 根据权利要求4所述的车辆装料的自动定位系统，其中，还包括：
    警报装置，设于所述卸料斗或所述支腿，所述警报装置用于根据所述装料测量装置的检测结果以及所述检测装置的检测结果发出警报。
  6. 根据权利要求5所述的车辆装料的自动定位系统，其中，
    所述扫描装置、所述导向装置与所述检测装置均为激光器件；或
    所述扫描装置为红外线器件，所述导向装置与所述检测装置均为激光器件。
  7. 根据权利要求2至6中任一项所述的车辆装料的自动定位系统，其中，
    所述装料测量装置根据物料的高度确定所述装料量和\或装料位置。
  8. 根据权利要求3至6中任一项所述的车辆装料的自动定位系统，其中，
    所述尺寸参数特征具体为：
    所述装料车辆的承料区域在所述第二方向上的长度，以及所述装料车辆的非承料区域在所述第二方向上的长度。
  9. 根据权利要求8所述的车辆装料的自动定位系统，其中，
    所述停放位置参照的更新次数为所述承料区域在所述第二方向上的长度与所述卸料口在所述第二方向上的长度的比值。
  10. 一种沥青站，其中，包括：
    搅拌主机、骨料仓、粉料仓、沥青罐、干燥滚筒、成品仓；
    还包括如权利要求1至9中任一项所述的车辆装料的自动定位系统；
    所述干燥滚筒烘干后的骨料，混合沥青、粉料在所述搅拌主机中搅拌形成成品料，存储在所述成品仓中，所述成品仓下部设置所述卸料斗。
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