WO2023216694A1

WO2023216694A1 - Automatic loading method for loading building, and loading building

Info

Publication number: WO2023216694A1
Application number: PCT/CN2023/080129
Authority: WO
Inventors: 薛宁; 张�杰; 赵伟丽; 齐斌; 庄辛喆; 刘福乾; 韩传林; 张雷波; 方景凯; 曹建风; 魏来柱; 石学辉; 薛松
Original assignee: 青岛港国际股份有限公司; 青岛港国际股份有限公司前港分公司
Priority date: 2022-05-13
Filing date: 2023-03-07
Publication date: 2023-11-16
Also published as: CN114873310B; CN114873310A

Abstract

Disclosed in the present invention are an automatic loading method for a loading building, and a loading building. The method comprises: setting a gate closing position, a gate opening position and a discharging position, which are different positions set in a driving direction; setting a height threshold value of materials in a train compartment; acquiring a relative positional relationship among a front train sideboard, the gate opening position and the discharging position; when the front train sideboard is located in front of the gate opening position and behind the discharging position in the driving direction, controlling a flow gate plate to open; when the front train sideboard is located in front of the discharging position in the driving direction, controlling a quantitative bin gate plate to open; acquiring a relative positional relationship among a rear train sideboard, the gate closing position and the gate opening position; when the rear train sideboard is located in front of the gate closing position and behind the gate opening position in the driving direction, controlling the flow gate plate to close; acquiring the height of a material, and comparing same with the height threshold value; when the height of the material is greater than an upper limit value of the height threshold value, controlling the flow gate plate to reduce the degree of opening; and when the height of the material is less than a lower limit value of the height threshold value, controlling the flow gate plate to increase the degree of opening. The loading efficiency and quality are improved.

Description

Automatic loading method and loading building in loading building

Technical field

The invention belongs to the technical field of railway freight, and specifically relates to an automatic loading method in a loading building and a loading building.

Background technique

The loading building is a mechanical equipment for rapid and quantitative loading of bulk goods. It has the advantages of accurate measurement, balanced loading, fast speed and high efficiency. Due to the static weighing method, the theoretical weighing error can be controlled to about one thousandth, which greatly exceeds the dynamic measurement methods such as railway track scales used in the past.

The loading building generally consists of a steel structure tower, a top belt layer, a buffer warehouse layer, a quantitative warehouse layer and a ground equipment layer. The steel structure tower spans the railway. The materials transported through the top belt layer are temporarily stored in the buffer bin. When the train needs to be loaded, the materials are lowered into the quantitative bin through the gate below the buffer bin. There are weighing sensors under each of the four support points of the quantitative bin. , used to measure the weight of materials placed in the quantitative bin. After reaching the loading weight, close the buffer chamber gate, lower the measured materials into the train carriage, and complete the loading operation. At the same time, the materials weighed for each loading will be The weight is stored in the database of the loading building system to generate the final loading data table.

The existing loading process is that the operator in the loading building operates the cyclic load-bearing button to weigh the materials that need to be loaded into the train carriage; when a car begins to pass under the chute on the ground equipment layer, press the cyclic load-bearing button button to open the gate below the quantitative bin and put the measured materials into the chute; open the flow gate on the chute and load the materials into the carriage; during the loading process, continuously adjust the opening and closing of the flow gate based on the loading experience. , while observing the weight of the remaining materials in the quantitative bin. While ensuring the uniformity of the materials being loaded into the carriage, it is necessary to ensure that all the materials can be loaded into the carriage when it completely passes under the chute. When the carriage completely passes under the chute, it is necessary to Open the flow gate to the maximum to ensure that all materials are loaded into the carriage; before the next carriage enters under the chute, close the flow gate to the appropriate position. This requires the operator to maintain a high degree of concentration during the loading operation of the entire train. The loading operation of each carriage requires the operator to constantly observe whether the materials in the carriage are uniform, and at the same time, he must also take into account the observation of the quantitative warehouse. According to the weight of the internal materials, the opening and closing of the flow gate is continuously adjusted according to the operating experience, so that the materials can be evenly loaded into the compartment. While continuously adjusting the flow gate, each train must press the cycle load-bearing button before loading to weigh the materials that need to be loaded into the next train. Therefore, the operators of the loading building not only need to have a high level of operation and experience, but also have high requirements for fault tolerance, long operation time, and heavy workload.

technical problem

The invention provides an automatic loading method and a loading building in a loading building. By automatically identifying the loading position of a train car, and automatically controlling the loading time and chute flow rate according to the identified loading position, the loading efficiency and quality are improved. Reduce the labor intensity of operators and improve operating safety. .

Technical solutions

In order to solve the above technical problems, the present invention adopts the following technical solutions to achieve:

An automatic loading method in a loading building, including:

Set the closing position, opening position, and discharge position respectively, which are different positions set in sequence along the driving direction relative to the chute; set the height threshold of the materials in the train carriage;

Automatically obtain the relative positional relationship between the position of the front side of the train carriage, the gate opening position and the material discharge position in real time; when the front side is located in front of the gate opening position in the driving direction, at all points When the discharge position is behind the driving direction, the flow gate is controlled to open; when the front side is located in front of the discharge position in the driving direction, the quantitative warehouse gate is controlled to open, and the discharge is implemented. material;

Automatically and in real time obtain the relative positional relationship between the position of the rear side of the train car and the gate closing position and the gate opening position; when the rear side is located in front of the closing position in the driving direction . When the gate opening position is at the rear in the driving direction, the flow gate is controlled to close;

Automatically obtain the material height in the train carriage in real time and compare the material height with the height threshold; when the material height is greater than the upper limit of the height threshold, control the flow gate to reduce the opening; when When the height of the material is less than the lower limit of the height threshold, the flow gate is controlled to increase its opening.

In some embodiments, the automatic loading method at the loading building also includes:

Set the discharge auxiliary position, which is located in front of the discharge position in the driving direction;

Obtain the relative positional relationship between the position of the front cowl, the discharge position and the discharge auxiliary position; when the front cowl is located in front of the discharge position in the driving direction, the discharge auxiliary position When the position is at the rear in the driving direction, the quantitative bin gate is controlled to open and the material is discharged.

In some embodiments, during the discharging process, the weight of the material in the quantitative bin is detected in real time to obtain the discharging speed;

Calculate the remaining discharging time based on the remaining material and the discharging speed;

The remaining travel time is obtained based on the speed, length and travel time of the train carriage;

Compare the remaining discharging time with the remaining driving time; when the remaining discharging time is greater than the remaining driving time, control the opening of the flow gate to increase; when the discharging time is less than the remaining driving time When the remaining driving time is remaining, the opening of the flow gate is controlled to be reduced.

Control the maximum opening of the flow gate to open before controlling the flow gate to close.

The identification of the front bumper, the rear bumper and the height of the material are all achieved through machine deep learning algorithm training;

Obtain the relative positional relationship between the position of the front car body and the gate opening position and the discharge position, obtain the relative positional relationship between the position of the rear car body and the gate closing position and the gate opening position, To obtain the height of the material in the train compartment, machine deep learning training is used to identify and judge the video stream captured by the camera in real time.

Set the vehicle model database corresponding to the vehicle model and rated load;

The vehicle type of the train car to be loaded is identified through the vehicle type identification device, and the rated load of the corresponding vehicle type is searched in the vehicle type database, and the counterweight of the quantitative bin is automatically configured.

Enter the recognized banned vehicle number to form a banned vehicle number database;

The car number of the train car that is about to be loaded is identified through the car number identification device, and compared with the banned car number database; when the car number is the banned car number, the quantitative number corresponding to the car number The counterweight of the bin is automatically configured to 0.

In some embodiments, when the buffer bin gate is opened to discharge materials into the quantitative bin, the weight of the material in the quantitative bin is measured in real time;

And when it is close to the configured rated load, reduce the opening of the buffer bin gate, and repeatedly close and open the buffer bin gate, and judge whether the material weight when the buffer bin gate is closed has reached the stated load. Rated load.

A loading building that uses the above-mentioned automatic loading method of the loading building to load cars, which includes:

PLC, which sets the gate position, gate opening position, discharge position, and height threshold;

The first camera is set corresponding to the position where the train car enters the loading building, communicates with the PLC, captures the first video stream and transmits it to the PLC; the PLC determines each part of the first video stream through a machine deep learning algorithm. The position of the front cowl within one frame, and determine the relative positional relationship between the position of the front cowl and the gate opening position and the discharge position; when the front cowl is in the gate opening position and the When the discharge position is between the above, the flow control gate is opened;

The second camera is set corresponding to the position where the train car enters the loading building, communicates with the PLC, captures the second video stream and transmits it to the PLC; the PLC determines each part of the second video stream through a machine deep learning algorithm. The position of the front cowl within one frame, and determine the relative positional relationship between the position of the front cowl and the discharge position; when the front cowl is in front of the discharge position in the driving direction, Control the quantitative warehouse gate to open;

A third camera is set corresponding to the position where the train car leaves the loading building, is connected to the PLC, captures a third video stream, and transmits it to the PLC; the PLC determines the third video stream through a machine deep learning algorithm. The position of the rear bumper in each frame of the three video streams, and determine the relative positional relationship between the position of the rear bumper and the gate closing position and the gate opening position; when the rear bumper is in the Control the flow gate to close when it is between the closing position and the opening position;

A fourth camera is installed corresponding to the shooting of the train carriage, communicates with the PLC, shoots a fourth video stream and transmits it to the PLC; the PLC determines each part of the fourth video stream through a machine deep learning algorithm. The height of the material within the frame is compared with the height threshold, and the opening of the flow gate is controlled based on the comparison result.

In some embodiments, the loading building also includes a vehicle model identification device and a vehicle number identification device; a vehicle model database with corresponding rated load is set in the PLC, including the currently used vehicle model codes, and correspondingly saves the specified Rated load;

The vehicle type identification device is a camera, which is connected to the PLC through communication and is used to take multiple photos of the location of the vehicle type mark of the train carriage and transmit the obtained first photo to the PLC; the PLC Perform image recognition on the first photo to extract the vehicle model code, and configure the weight of materials to be loaded in the quantitative warehouse according to the vehicle model code and the vehicle model database;

The train number identification device is a camera, which is communicatively connected with the PLC and is used to take multiple photos of the train number mark position of the train carriage and transmit the obtained second photos to the PLC; the PLC The second photo performs image recognition to extract the vehicle number, and compares the vehicle number with the input banned vehicle number; when the vehicle number is the banned vehicle number, the PLC controls the quantitative bin The counterweight is 0.

beneficial effects

Compared with the existing technology, the advantages and positive effects of the present invention are: the automatic loading method of the loading building and the loading building of the present invention set the gate opening position, discharge position, gate closing position and height threshold, And by obtaining the position of the front car and the rear car of the train car, it can automatically determine the relative position between the front car and the gate opening position and the discharge position, and the relative position of the rear car and the closing position and the gate opening position. The position relationship is used to automatically control the flow gate and quantitative bin gate, including the opening and closing of the flow gate, the opening of the quantitative bin gate and the opening control of the flow bin gate, so as to realize automatic control of loading and unloading according to the traveling position of the train car. Automatically control the opening of the flow gate according to the loading height in the carriage, adjust the loading quality of materials in the carriage, and realize full automation of loading, liberating workers, improving loading efficiency, loading quality, and improving loading safety.

Description of the drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required to be used in the embodiments will be briefly introduced below. Obviously, the drawings in the following description are some embodiments of the present invention. Those of ordinary skill in the art can also obtain other drawings based on these drawings without exerting creative efforts.

Figure 1 is a schematic control flow diagram of an embodiment of an automatic loading method in a loading building proposed by the present invention;

Figure 2 is a schematic control flow diagram of an embodiment of an automatic loading method in a loading building proposed by the present invention;

Figure 3 is a schematic control flow diagram of an embodiment of an automatic loading method at a loading building proposed by the present invention.

Best Mode of Carrying Out the Invention

Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements with the same or similar functions. The embodiments described below with reference to the drawings are exemplary and are intended to explain the present invention and are not to be construed as limiting the present invention.

The loading building includes a steel structure tower, top belt, buffer warehouse, quantitative warehouse and ground equipment. The steel structure tower spans the railway. The buffer bin, quantitative bin and ground equipment are all installed on the steel structure tower; the top belt is connected to the buffer bin and is used to transport materials to be loaded to the buffer bin for buffering. The quantitative bin is used to weigh the materials loaded into the train carriage so that the weight of the materials loaded into the train carriage meets the rated load requirements of the train carriage.

When the train car needs to be loaded, the material is lowered into the quantitative bin through the buffer bin gate below the buffer bin; a weighing sensor is provided under the support point of the quantitative bin to measure the weight of the material lowered into the quantitative bin; when After the material weight in the quantitative bin reaches the loading weight, the buffer bin gate is closed; the ground equipment includes a discharge chute, which is located below the quantitative bin, one end is connected to the quantitative bin, and the other end is equipped with a flow gate, located above the train car. Used to discharge materials into train carriages.

When the train carriage moves below the quantitative bin, the flow gate and the quantitative bin gate are opened, and the measured materials in the quantitative bin are lowered into the train carriage to complete the loading operation.

Referring to Figures 1, 2, and 3, an automatic loading method in a loading building of the present invention includes the following steps.

Set the closing position, opening position and discharging position respectively, which are different positions set in sequence along the driving direction relative to the chute; that is, the closing position, opening position and discharging position are located near the chute and in the driving direction. Distributed in sequence, each position can be a set virtual position or an actual position, which is used to determine whether the train car enters the operation area and leaves the operation area.

Set the height threshold of materials in the train carriage; since the loading process of the train carriage is a dynamic one-time flow loading process, that is, when the train carriage is walking along its length, the chute discharges materials to the passing train carriage at one time , so it is necessary to detect the height of the material at the loaded position, which can be used as a reference for adjusting subsequent loading operations. The height threshold is the range of material height that meets the loading requirements of the train carriage. It is compared with the actual material height to determine whether the uniformity of loading meets the loading requirements.

During the loading process of the train carriage, the relative position relationship between the position of the front carriage of the train carriage, the gate opening position and the discharge position is automatically obtained in real time; the current carriage is located in front of the gate opening position in the driving direction and the discharge position. When it is at the rear in the driving direction, the control flow gate is opened to prepare for discharging; when the front side of the truck is located in front of the discharging position in the driving direction, the quantitative warehouse gate is controlled to be opened to implement discharging.

During the process of unloading materials, the relative positional relationship between the position of the rear carriage of the train car and the closing and opening positions of the train carriage is automatically obtained in real time; when the rear carriage is located in front of the closing position in the driving direction, and the opening position is at When traveling to the rear in the direction of travel, the flow control gate is closed.

During the discharge process, the material height in the train carriage is automatically obtained in real time and compared with the height threshold; when the material height is greater than the upper limit of the height threshold, the flow gate is controlled to reduce the opening; when the material height is less than the height threshold When the lower limit value is reached, the flow gate is controlled to increase its opening.

Referring to Figures 1, 2, and 3, a loading building of the present invention that uses the above-mentioned automatic loading method in the loading building to load vehicles includes a PLC, a first camera, a second camera, a third camera, and a fourth camera. .

PLC sets the gate position, gate opening position, discharge position and height threshold.

The first camera is set corresponding to the position where the train car enters the loading building, communicates with the PLC, and shoots the first video stream and transmits it to the PLC; the PLC uses a machine deep learning algorithm to determine the position of the front car in each frame of the first video stream. And judge the relative position relationship between the position of the front carriage and the set gate opening position and discharge position; when the front carriage is between the gate opening position and the discharge position, the flow gate is controlled to open and prepare for discharge.

The second camera is set corresponding to the position where the train car enters the loading building, communicates with the PLC, and shoots the second video stream and transmits it to the PLC; the PLC uses a machine deep learning algorithm to determine the position of the front car in each frame of the second video stream. And judge the relative positional relationship between the position of the front car body and the set discharge position; when the front car body is in front of the discharging position in the driving direction, the quantitative warehouse gate is controlled to open and the material discharging is carried out.

The third camera is set corresponding to the position where the train car leaves the loading building, communicates with the PLC, and shoots the third video stream and transmits it to the PLC; the PLC uses a machine deep learning algorithm to determine the position of the rear car in each frame of the third video stream. , and determine the relative positional relationship between the position of the rear carriage, the closing position and the opening position; and when the rear carriage is between the closing position and the opening position, the flow gate is controlled to close and discharge is completed.

The fourth camera is set up to shoot inside the train carriage, communicates with the PLC, and shoots the fourth video stream and transmits it to the PLC; the PLC determines the material height in each frame of the fourth video stream through a machine deep learning algorithm, and assigns the material height to the PLC. Compare with the height threshold and control the opening of the flow gate based on the comparison result.

The automatic loading method and the loading building of the present invention set the gate opening position, discharge position, gate closing position and height threshold, and obtain the position of the front gang and the rear gang of the train carriage, And automatically determine the relative positional relationship between the front truck and the gate opening position and the discharge position, and the relative positional relationship between the rear truck and the gate closing position and the gate opening position to automatically control the flow gate and quantitative warehouse gate, including the flow gate The opening and closing of the plate, the opening of the quantitative bin gate and the opening control of the flow bin gate realize automatic control of loading according to the traveling position of the train carriage and automatic control of the opening of the flow gate according to the loading height in the carriage to adjust the carriage. It improves the loading quality of materials inside, and realizes full automation of loading, liberating workers, improving loading efficiency, loading quality, and improving loading safety.

According to some embodiments of the present invention, with reference to Figures 1, 2, and 3, the loading building also includes a buffer warehouse gate driving device, a quantitative warehouse gate driving device, and a flow gate driving device, which are respectively connected with the buffer warehouse gate plate. , the quantitative warehouse gate and the flow gate are connected, and are electrically connected to PCL respectively. The opening, closing and opening adjustment are controlled by PLC.

According to some embodiments of the present invention, referring to Figures 1, 2, and 3, the first camera, the second camera, and the third camera provided on the loading floor can share one camera or two cameras.

According to some embodiments of the present invention, with reference to Figures 1, 2, and 3, the automatic loading method at the loading building further includes the following steps.

Set the discharge auxiliary position; the discharge auxiliary position is located in front of the discharge position in the driving direction.

Real-time acquisition of the relative positional relationship between the position of the front carriage and the discharge position and the auxiliary position of the discharge; when the front carriage is located in front of the discharge position in the driving direction and the auxiliary position of the discharge is behind the driving direction, the quantitative warehouse is controlled The gate is opened to discharge materials.

In the embodiment of the loading building, the PLC is provided with an auxiliary position for discharging materials, and the second camera captures a second video stream and transmits it to the PLC; the PLC determines the relative positional relationship between the front car body and the discharging position and the auxiliary discharging position based on the second video stream. and use the above-mentioned automatic loading method.

In the automatic loading method of the loading building and the loading building of this embodiment, by setting the loading auxiliary position, the loading time is judged through double boundaries, which improves the accuracy of the judgment and improves the reliability of loading.

According to some embodiments of the present invention, with reference to Figures 1, 2, and 3, the weight of the material in the quantitative bin is detected in real time during the discharging process, and the discharging speed is obtained. Calculate the remaining discharging time based on the remaining material and discharging speed; obtain the remaining driving time based on the speed, length and travel time of the train carriage; compare the remaining discharging time and the remaining driving time; when the remaining discharging time is greater than the remaining driving time , the opening of the flow control gate increases; when the discharge time is less than the remaining driving time, the opening of the flow control gate decreases.

Specifically, by detecting the weight of materials in the quantitative bin, the weight difference between adjacent detection sequences is calculated; the discharging speed is calculated based on the weight difference and sequence difference. The weight of the material in the quantitative bin detected in real time is the weight of the remaining material in the quantitative bin; the remaining material discharging time is calculated by dividing the weight of the remaining material in the quantitative bin and the discharging speed. The remaining travel time of the train carriage is calculated based on the train speed, the length of the train carriage and the elapsed travel time; that is, how long it will take for the remaining length of the train carriage to exit the loading operation position. Then the opening of the flow gate is adjusted by comparing the remaining time for discharging materials with the remaining driving time.

The load sensor of the loading building of the present invention is connected to the PLC through communication; the PLC is configured to calculate and compare the remaining time for discharging materials and the remaining driving time, so as to realize loading using the above-mentioned automatic loading method.

The automatic loading method and the loading building of this embodiment adjust the opening of the flow gate by comparing the remaining time for unloading materials with the remaining driving time, so that when the remaining driving time is used up, the unloading is also completed at the same time. Further increase the uniformity and reliability of unloading operations and improve loading quality.

According to some embodiments of the present invention, with reference to Figures 1, 2, and 3, the automatic loading method at the loading building also includes controlling the flow before the gate is closed after detecting that the rear carriage is located between the closing position and the opening position. The flow gate is opened to its maximum opening.

The loading building of the present invention is equipped with the above-mentioned automatic loading method.

The automatic loading method of the loading building of this embodiment and the loading building control the maximum opening of the flow gate before closing the flow gate to discharge materials, ensuring that all materials in the chute are put into the corresponding train carriages, ensuring that the measured All materials in the quantitative warehouse are put into the corresponding train cars, reducing the error between the weight count of materials in the train cars and the actual weight of materials in the train cars.

According to some embodiments of the present invention, with reference to Figures 1, 2, and 3, the identification of the front truck body, the rear truck body, and the material height in the automatic loading method at the loading building are all implemented through machine deep learning algorithm training.

Obtaining the relative positional relationship between the position of the front car and the gate opening position and the material discharge position, obtaining the relative positional relationship between the position of the rear car and the gate closing position and the gate opening position, and obtaining the material height in the train carriage are all through machine deep learning. Train to identify and judge the video stream captured by the camera in real time.

Specifically, by defining the picture or video stream of the positional relationship between the set front car side and the gate opening position and the material discharge position captured by the camera, and defining the set rear car side and gate opening position captured by the camera. , the picture or video stream of the positional relationship of the gate closing position is defined, so that the PLC can learn the positional relationship that meets the control conditions, and identify and judge the pictures or video streams captured by the camera based on the learned control conditions.

The loading building of the present invention uses the above-mentioned automatic loading method.

The automatic loading method and the loading building of this embodiment use machine deep learning algorithms to reduce implementation difficulty and improve judgment accuracy.

Set up a vehicle model database including each vehicle model and its corresponding rated load. Models include existing train carriage models.

The vehicle type identification device is used to identify the vehicle type of the train car that is about to be loaded, and the rated load of the corresponding vehicle type is searched in the vehicle type database, and the counterweight of the quantitative bin is automatically configured.

The loading building of the present invention includes a vehicle vehicle identification device, which is connected with PLC communication to identify vehicle types; the loading building uses the above-mentioned automatic loading method.

The automatic loading method of the loading building of this embodiment and the loading building automatically identify the vehicle type through the equipment, and automatically configure the material weight of the quantitative warehouse according to the vehicle type, thereby improving the weighing efficiency and weighing accuracy.

Enter the identified banned vehicle numbers to form a database of banned vehicle numbers.

The car number of the train car that is about to be loaded is identified through the car number recognition device and compared with the banned car number database; when the car number is a banned car number, the counterweight of the quantitative bin corresponding to the car number is automatically configured to 0 and remains The quantitative bin gate and flow gate are closed or the control of the quantitative bin gate and flow gate is cancelled.

The loading building of the present invention includes a vehicle number identification device, which is connected with PLC communication to identify the vehicle number; the loading building uses the above-mentioned automatic loading method.

The automatic loading method of the loading building and the loading building of this embodiment form a banned car number database by inputting the banned car number, and the car number identification device identifies the banned car numbers of each train car in the loading operation, and solves the problem of disabled car numbers. Late notification and random distribution lead to difficult identification and re-operation problems after misoperation. Reduce the difficulty and intensity of work and improve work efficiency and reliability.

According to some embodiments of the present invention, with reference to Figures 1, 2, and 3, the vehicle model recognition device is a camera, which is connected to the PLC for communication and is used to take multiple photos of the location of the vehicle model mark of the train car and obtain the first photo. Transmit to PLC; PLC performs image recognition on the first photo to extract the vehicle model code, and configures the weight of materials to be loaded in the quantitative warehouse according to the vehicle model code and vehicle model database.

The train number recognition device is a camera, which is connected to the PLC for communication and is used to take multiple photos of the position of the train number mark of the train carriage and transmit the obtained second photo to the PLC; the PLC performs image recognition on the second photo to extract the train number, And compare the vehicle number with the input prohibited vehicle number; when the vehicle number is a prohibited vehicle number, the PLC controls the counterweight of the quantitative bin to be 0.

According to some embodiments of the present invention, with reference to Figures 1, 2, and 3, when the buffer bin gate is opened to discharge materials into the quantitative bin, the weight of the material in the quantitative bin is measured in real time.

And when the material weight in the quantitative bin is close to the configured rated load, the opening of the buffer bin gate is controlled to be reduced, and the buffer bin gate is repeatedly closed and opened to the above small opening; according to the buffer bin gate closing Use the material weight at the time to determine whether the rated load is reached.

The automatic loading method in the loading building of this embodiment and the data obtained by static weighing in the loading building determine whether the weight of materials measured in the quantitative warehouse meets the standard, which is more accurate and improves the accuracy of the weight of materials in the train carriage.

In the description of the present invention, it should be understood that the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features. Therefore, features defined as "first" and "second" may explicitly or implicitly include at least one of these features. In the description of the present invention, "plurality" means at least two, such as two, three, etc., unless otherwise expressly and specifically limited.

In the present invention, unless otherwise clearly stated and limited, the terms "installation", "connection", "connection", "fixing" and other terms should be understood in a broad sense. For example, it can be a fixed connection or a detachable connection. , or integrated into one; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be an internal connection between two elements or an interactive relationship between two elements, unless otherwise specified restrictions. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

In the present invention, unless otherwise expressly stated and limited, a first feature being "on" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. touch. Furthermore, the terms "above", "above" and "above" the first feature is above the second feature may mean that the first feature is directly above or diagonally above the second feature, or simply means that the first feature is higher in level than the second feature. "Below", "below" and "beneath" the first feature to the second feature may mean that the first feature is directly below or diagonally below the second feature, or simply means that the first feature has a smaller horizontal height than the second feature.

In the description of this specification, reference to the terms "one embodiment," "some embodiments," "an example," "specific examples," or "some examples" or the like means that specific features are described in connection with the embodiment or example. , structures, materials or features are included in at least one embodiment or example of the invention. In this specification, the schematic expressions of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the specific features, structures, materials or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, those skilled in the art may combine and combine different embodiments or examples and features of different embodiments or examples described in this specification unless they are inconsistent with each other.

Although the embodiments of the present invention have been shown and described above, it can be understood that the above-mentioned embodiments are illustrative and should not be construed as limitations of the present invention. Those of ordinary skill in the art can make modifications to the above-mentioned embodiments within the scope of the present invention. The embodiments are subject to changes, modifications, substitutions and variations.

Claims

An automatic loading method in a loading building, which is characterized by including:

Set the closing position, opening position, and discharge position respectively, which are different positions set in sequence along the driving direction relative to the chute; set the height threshold of the materials in the train carriage;

Automatically obtain the relative positional relationship between the position of the front side of the train carriage, the gate opening position and the material discharge position in real time; when the front side is located in front of the gate opening position in the driving direction, at all points When the discharge position is behind the driving direction, the flow gate is controlled to open; when the front side is located in front of the discharge position in the driving direction, the quantitative warehouse gate is controlled to open, and the discharge is implemented. material;

Automatically and in real time obtain the relative positional relationship between the position of the rear side of the train car and the gate closing position and the gate opening position; when the rear side is located in front of the closing position in the driving direction . When the gate opening position is at the rear in the driving direction, the flow gate is controlled to close;

Automatically obtain the material height in the train carriage in real time and compare the material height with the height threshold; when the material height is greater than the upper limit of the height threshold, control the flow gate to reduce the opening; when When the height of the material is less than the lower limit of the height threshold, the flow gate is controlled to increase its opening.
The automatic loading method in the loading building according to claim 1, further comprising:

Set the discharge auxiliary position, which is located in front of the discharge position in the driving direction;

Obtain the relative positional relationship between the position of the front cowl, the discharge position and the discharge auxiliary position; when the front cowl is located in front of the discharge position in the driving direction, the discharge auxiliary position When the position is at the rear in the driving direction, the quantitative bin gate is controlled to open and the material is discharged.
The automatic loading method in the loading building according to claim 1, characterized in that during the discharging process, the weight of the material in the quantitative bin is detected in real time to obtain the discharging speed;

Calculate the remaining discharging time based on the remaining material and the discharging speed;

The remaining travel time is obtained based on the speed, length and travel time of the train carriage;

Compare the remaining discharging time with the remaining driving time; when the remaining discharging time is greater than the remaining driving time, control the opening of the flow gate to increase; when the discharging time is less than the remaining driving time When the remaining driving time is remaining, the opening of the flow gate is controlled to be reduced.
The automatic loading method in the loading building according to claim 1, further comprising:

Control the maximum opening of the flow gate to open before controlling the flow gate to close.
The automatic loading method in the loading building according to claim 1, further comprising:

The identification of the front bumper, the rear bumper and the height of the material are all achieved through machine deep learning algorithm training;

Obtain the relative positional relationship between the position of the front car body and the gate opening position and the discharge position, obtain the relative positional relationship between the position of the rear car body and the gate closing position and the gate opening position, To obtain the height of the material in the train compartment, machine deep learning training is used to identify and judge the video stream captured by the camera in real time.
The automatic loading method at the loading building according to any one of claims 1 to 5, characterized in that it further includes:

Set the vehicle model database corresponding to the vehicle model and rated load;

The vehicle type of the train car to be loaded is identified through the vehicle type identification device, and the rated load of the corresponding vehicle type is searched in the vehicle type database, and the counterweight of the quantitative bin is automatically configured.
The automatic loading method at the loading building according to any one of claims 1 to 5, characterized in that it further includes:

Enter the recognized banned vehicle number to form a banned vehicle number database;

The car number of the train car that is about to be loaded is identified through the car number identification device, and compared with the banned car number database; when the car number is the banned car number, the quantitative number corresponding to the car number The counterweight of the bin is automatically configured to 0.
The automatic loading method in the loading building according to any one of claims 1 to 5, characterized in that when the buffer bin gate is opened to discharge materials into the quantitative bin, the weight of the material in the quantitative bin is measured in real time. Measurement;

And when it is close to the configured rated load, reduce the opening of the buffer bin gate, and repeatedly close and open the buffer bin gate, and judge whether the material weight when the buffer bin gate is closed has reached the stated load. Rated load.
A loading building using the automatic loading method of the loading building according to any one of claims 1 to 8 for loading, characterized in that it includes:

PLC, which sets the gate position, gate opening position, discharge position, and height threshold;

The first camera is set corresponding to the position where the train car enters the loading building, communicates with the PLC, captures the first video stream and transmits it to the PLC; the PLC determines each part of the first video stream through a machine deep learning algorithm. The position of the front cowl within one frame, and determine the relative positional relationship between the position of the front cowl and the gate opening position and the discharge position; when the front cowl is in the gate opening position and the When the discharge position is between the above, the flow control gate is opened;

The second camera is set corresponding to the position where the train car enters the loading building, communicates with the PLC, captures the second video stream and transmits it to the PLC; the PLC determines each part of the second video stream through a machine deep learning algorithm. The position of the front cowl within one frame, and determine the relative positional relationship between the position of the front cowl and the discharge position; when the front cowl is in front of the discharge position in the driving direction, Control the quantitative warehouse gate to open;

A third camera is set corresponding to the position where the train car leaves the loading building, is connected to the PLC, captures a third video stream, and transmits it to the PLC; the PLC determines the third video stream through a machine deep learning algorithm. The position of the rear bumper in each frame of the three video streams, and determine the relative positional relationship between the position of the rear bumper and the gate closing position and the gate opening position; when the rear bumper is in the Control the flow gate to close when it is between the closing position and the opening position;

A fourth camera is installed corresponding to the shooting of the train carriage, communicates with the PLC, shoots a fourth video stream and transmits it to the PLC; the PLC determines each part of the fourth video stream through a machine deep learning algorithm. The height of the material within the frame is compared with the height threshold, and the opening of the flow gate is controlled based on the comparison result.
The loading building according to claim 9, further comprising a vehicle model identification device and a vehicle number identification device; a vehicle model database of vehicle types and corresponding rated load is set in the PLC, including currently used vehicle model codes, And correspondingly keep its specified rated load;

The vehicle type identification device is a camera, which is connected to the PLC through communication and is used to take multiple photos of the location of the vehicle type mark of the train carriage and transmit the obtained first photo to the PLC; the PLC Perform image recognition on the first photo to extract the vehicle model code, and configure the weight of materials to be loaded in the quantitative warehouse according to the vehicle model code and the vehicle model database;

The train number identification device is a camera, which is communicatively connected with the PLC and is used to take multiple photos of the train number mark position of the train carriage and transmit the obtained second photos to the PLC; the PLC The second photo performs image recognition to extract the vehicle number, and compares the vehicle number with the input banned vehicle number; when the vehicle number is the banned vehicle number, the PLC controls the quantitative bin The counterweight is 0.