CN114671350A - Container whole vehicle loading state detection method and information processing system - Google Patents

Abstract

The invention relates to a detection method of the loading state of a container whole vehicle and a processing system of the loading information of the container whole vehicle, wherein the method comprises the following steps: the server acquires electronic fence information; the railway wagon number identification device uploads automatically identified wagon number information of the railway wagon to the server; the method comprises the steps that hoisting information of a hoisted container is obtained by hoisting equipment, wherein the hoisting information comprises the weight of the hoisted container, unloading location, a box type and a box number; the hoisting equipment uploads the hoisting information to a server; the server judges the loading state of the container in one vehicle according to the electronic fence information, the wagon number information and the hoisting information, can automatically detect the matching state of the container and the wagon, prevents the condition that the loading of the whole wagon exceeds a threshold value after the container is loaded, particularly prevents the condition of empty and heavy mixed loading, does not need human intervention, and can improve the efficiency and the flexibility of operation.

Description

Container whole vehicle loading state detection method and information processing system

Technical Field

The invention relates to the field of railway freight, in particular to a method for detecting the loading state of a whole container truck and a system for processing the loading information of the whole container truck.

Background

Container transportation stands out in the rapidly developing modern logistics due to the convenience of multi-mode intermodal transportation. Railway yards typically use container-only flat or open cars for container transport, with one car carrying either one 40-foot or two 20-foot containers. According to the requirements of the existing railway freight loading reinforcement rule, the load of the train loading the container, the load difference of front and rear bogies and the lateral deviation of the combined center of gravity are all limited within a certain range. The vehicle loading the container has slight difference of vehicle parameters due to different vehicle types, and in order to ensure the safety of railway freight, the container loaded on the train vehicle is required to meet the parameter constraint range of the current vehicle, so that the whole flat (open) vehicle loading after the container loading reaches the optimal state of 'box-vehicle matching'. When the container is overweight, unbalanced load and unbalanced load in a vehicle, the railway freight safety can be endangered, and particularly when a special flat car or open car for the container is loaded with two 20-foot containers, one is an empty container and the other is a heavy container (the container loaded with goods), namely, when the empty container and the heavy container are mixed (the extreme condition of unbalanced load), a serious railway freight safety accident of train derailment can be caused by the unbalanced load of the vehicle.

At present, containers are loaded in railway freight yards by adopting front cranes, portal cranes and the like. The method for preventing overweight is to install a weighing device additionally, and prompt the weight information of the container for operating personnel when the container is hung; the method for preventing empty containers and heavy containers from being mixed is to add a weighing joint control device, set a lifting weight threshold value to distinguish the empty containers and the heavy containers, and lift the containers within the corresponding weight range in a corresponding mode by switching the lifting modes of the empty containers and the heavy containers before operation, but the frequent switching mode is not beneficial to the flexibility of the operation of a goods yard. The existing preventive measures all need human intervention, and the 'box-vehicle matching' state loaded by the whole container vehicle cannot be automatically acquired.

Disclosure of Invention

In view of the above, the present invention provides a method for detecting a loading state of a container complete vehicle based on satellite positioning and a system for processing loading information of the container complete vehicle, which can automatically detect a "matching between containers and vehicles" state, prevent an overload situation that the loading of the complete vehicle exceeds a threshold after the container is loaded, and particularly prevent an empty-heavy mixed loading situation from occurring, and do not need human intervention, thereby improving the efficiency and flexibility of operation.

In a first aspect, an embodiment of the present invention provides a method for detecting a loading state of a container vehicle, including: the server acquires electronic fence information; the railway wagon number identification device uploads automatically identified wagon number information of the railway wagon to the server; the method comprises the steps that hoisting information of a hoisted container is obtained by hoisting equipment, wherein the hoisting information comprises the weight of the hoisted container, unloading location, a box type and a box number; the hoisting equipment uploads the hoisting information to a server; and the server judges the loading state of the whole container according to the electronic fence information, the wagon number information and the hoisting information.

Optionally, the electronic fence is formed by a plurality of satellite positioning points to define a range, and comprises a plurality of quadrilateral areas arranged in parallel, and the electronic fence covers the transportation track of the container.

Optionally, the railway wagon number recognition device uploads the automatically recognized railway wagon number information to the server: through the railway wagon number recognition device arranged on the station entrance and exit positions of the railway wagon, the wagon number information of the railway wagon is acquired one by one when the train enters the operation station track, and the railway wagon number information is uploaded to the server.

Optionally, the server determines the loading state of the whole container according to the electronic fence information, the wagon number information and the hoisting information, and includes: determining the spatial arrangement condition of the container in the electronic fence area according to the electronic fence information and the positioning and box type information of the container; determining loading vehicles of the containers and vehicle parameters of the loading vehicles according to the spatial arrangement condition of the containers in the electronic fence area and the wagon number information of the railway wagon; judging a 'box-vehicle matching' state of the whole container vehicle according to the weight of the container and the vehicle parameters loaded; responding to an overload and unbalanced load state exceeding the current vehicle load, the front and rear bogie load bearing difference and the combined gravity center lateral deviation threshold value, and performing alarm operation; the alarm information comprises the container number, the number of the loaded vehicle and the overload and unbalanced load state of the whole vehicle.

Optionally, the acquiring, by the hoisting device, the hoisting information of the hoisting container includes: acquiring final loading positioning information of the container when the container is unloaded through a positioning device arranged on the hoisting equipment; acquiring weight information of four hoisting points of the container when the container is hoisted through a weighing device arranged on the hoisting equipment; acquiring box information of the container when the container is hoisted through a box device arranged on the hoisting equipment; and acquiring the box number information of the container when the container is hoisted by the box number identification device arranged on the hoisting equipment.

Optionally, after the hoisting device uploads the hoisting information to the server, before the server determines the complete loading state of the container according to the electronic fence information, the wagon number information, and the hoisting information, the method for detecting the complete loading of the container further includes: acquiring the serial number of the hoisting equipment; judging whether the positioning device is installed at a preset position of the hoisting equipment or not according to the serial number of the hoisting equipment; and performing coordinate transformation on the position of the positioning device in response to the fact that the positioning device is not installed at the preset position of the hoisting equipment.

Optionally, after the hoisting device uploads the hoisting information to the server, before the server determines the entire loading state of the container according to the electronic fence information, the wagon number information, and the hoisting information, the method for detecting the entire loading of the container further includes: and judging whether the container is in the area of the electronic fence or not according to the electronic fence information and the positioning information, namely judging whether the container is loaded into the train vehicle of the target station track or not.

In a second aspect, an embodiment of the present invention provides a container loading information processing system, including: the hoisting equipment is configured to acquire and upload hoisting information of a hoisted container, wherein the hoisting information comprises the weight of the hoisted container and the weight of four hoisting points, unloading location, box type and box number; the railway wagon number identification device is configured to acquire and upload wagon number information of the railway wagon; and the server is configured to acquire electronic fence information and judge the whole vehicle loading state of the container according to the electronic fence information, the wagon number information, the weight of the container, the weight of four lifting points, the unloading positioning and the box type information.

Optionally, the lifting device comprises a telescopic lifting appliance, the telescopic lifting appliance is provided with a weighing device, a positioning device and a box-type detection device, wherein the weighing device and the positioning device are set to follow the telescopic synchronous motion of the telescopic lifting appliance.

Optionally, the weighing device includes a plurality of weight sensors, and the plurality of weight sensors are respectively and correspondingly arranged at a plurality of hoisting points of the hoisting equipment; the box detection device comprises a laser ranging device, and the laser ranging device is arranged to measure the telescopic distance of a telescopic lifting appliance of the lifting equipment.

Optionally, a box number recognition device is further arranged on the hoisting equipment and comprises an image acquisition module, and the acquisition range of the image acquisition module at least covers the box numbers in the three-layer height range of container stacking.

The method for detecting the loading state of the whole container truck and the system for processing the loading information of the whole container truck can automatically detect the matching state of the container truck when the whole container truck is loaded, prevent the occurrence of the overload and unbalanced loading condition, particularly the condition of empty and heavy mixed loading when the vehicle loaded by the whole container truck exceeds the threshold value, improve the freight safety, do not need human intervention, and improve the efficiency and the flexibility of the loading operation of the container truck.

Drawings

The above and other objects, features and advantages of the present invention will become more apparent from the following description of the embodiments of the present invention with reference to the accompanying drawings, in which:

fig. 1 is a schematic diagram of a method for detecting the loading state of a container vehicle according to an embodiment of the invention;

fig. 2 is a schematic view of an electronic fence according to an embodiment of the present invention;

FIG. 3 is a schematic view of a railway car number identification device of an embodiment of the present invention;

FIG. 4 is a schematic illustration of a sub-method of an embodiment of the present invention;

FIG. 5 is a schematic illustration of yet another sub-method of an embodiment of the present invention;

fig. 6 is a schematic diagram of a location of a container in an electronic fence according to an embodiment of the present invention;

FIG. 7 is a schematic illustration of yet another sub-method of an embodiment of the present invention;

fig. 8 is a schematic view of the arrangement of the container in the electronic fence according to the embodiment of the present invention;

FIG. 9 is a schematic illustration of yet another sub-method of an embodiment of the present invention;

FIG. 10 is a schematic illustration of a container position coordinate transformation of an embodiment of the present invention;

fig. 11 is a schematic diagram of a container loading information processing system according to an embodiment of the present invention;

FIG. 12 is a schematic view of an installation position of a positioning device of an embodiment of the present invention;

FIG. 13 is a schematic view showing the installation position of the box type inspection apparatus according to the embodiment of the present invention;

fig. 14 is a schematic view of a container lifting point location according to an embodiment of the present invention.

Detailed Description

The present invention will be described below based on examples, but the present invention is not limited to only these examples. In the following detailed description of the present invention, certain specific details are set forth. It will be apparent to one skilled in the art that the present invention may be practiced without these specific details. Well-known methods, procedures, components and circuits have not been described in detail so as not to obscure the present invention.

Further, those of ordinary skill in the art will appreciate that the drawings provided herein are for illustrative purposes and are not necessarily drawn to scale.

Unless the context clearly requires otherwise, throughout the description, the words "comprise", "comprising", and the like are to be construed in an inclusive sense as opposed to an exclusive or exhaustive sense; that is, what is meant is "including, but not limited to".

In the description of the present invention, it is to be understood that the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. In addition, in the description of the present invention, "a plurality" means two or more unless otherwise specified.

Container transportation stands out in the rapidly developing modern logistics due to the convenience of multi-mode intermodal transportation. In a railway freight yard, most of containers are of two specifications of 40 feet and 20 feet, the containers are transported to the railway freight yard by a truck in a unified way, a container transport train is stopped on a freight yard track, the containers on the truck are loaded into a transport train (such as a special container flat car or an open car) on a railway by using hoisting equipment (such as a front crane or a portal crane), and then the containers are transported by the transport train on the railway. Wherein the transport train has a plurality of cars, each car can carry a 40 foot container, or two 20 foot containers. The container loading vehicles have slight difference of vehicle parameters due to different vehicle types, and in order to ensure the safety of railway freight, the container loaded on the railway vehicle is required to meet the parameter constraint range of the current vehicle, so that the whole loading of the flat (open) vehicle after the container loading achieves the optimal state of 'box-vehicle matching'. When the container is overweight, unbalanced load and unbalanced weight in a vehicle, the safety of railway freight can be endangered. The invention aims to provide a method for detecting the loading state of a whole container truck based on satellite positioning and an information processing system, which are used for detecting the loading state of the whole container truck and avoiding the problems so as to improve the safety of railway freight. Specifically, the method comprises the following steps: as shown in fig. 1, the method for detecting the loading state of the container truck according to the embodiment of the present invention is schematically illustrated, and the method includes:

s100, a server acquires electronic fence information;

s200, the railway wagon number recognition device uploads automatically recognized railway wagon number information to a server;

s300, the hoisting equipment acquires hoisting information of a hoisted container, wherein the hoisting information comprises the weight, the unloading location, the box type and the box number of the hoisted container;

s400, the hoisting equipment uploads the hoisting information to a server;

and S500, the server judges the whole vehicle loading state of the container according to the electronic fence information, the wagon number information and the hoisting information.

As shown in fig. 2, in S100, a server acquires information of an electronic fence, the electronic fence is composed of a plurality of satellite positioning points, forms a defined range, can comprise a plurality of quadrilateral areas arranged in parallel, and covers a transportation station track of a container. Wherein the tracks are shown in fig. 2 as shaded fill areas, the tracks may include tracks and sleepers that criss-cross each other. The electronic fence comprises quadrangles 1-2-3-4, quadrangles 3-4-5-6, quadrangles 5-6-7-8 and the like which are sequentially linearly arranged. Both the station track and the electronic fence can continue to extend, and the parts shown in the figures are only schematic.

Satellite positioning is carried out point by point along each stock track of the goods yard through a portable RTK measuring instrument, and the server can obtain longitude and latitude information of the stock tracks. Alternatively, points are respectively positioned along the two sides of the center line of the track, which are 2 meters wide, and the distance between adjacent points on the same side is not more than 6 meters (which should not be more than the length of a 20-foot container), so that points 1, 3, 5, 7 and 9 … … are obtained on one side of the track, points 2, 4, 6, 7 and 8 … … are obtained on the other side of the track, and the track is surrounded to form an electronic fence. For non-linear tracks, the distance between the positioning points is reduced appropriately so as to cut straight. The length of the electronic fence is not limited to 2 meters or 6 meters, and the electronic fence can be adjusted according to the size of a container, a train and the like, so that the electronic fence with a proper shape and area can be obtained in actual operation.

As shown in fig. 3, in S200, the railway wagon number identification device uploads the wagon number information of the railway wagon, which is automatically identified, to the server, and the railway wagon number identification device includes a starting magnetic steel Q, an antenna U, RF radio frequency device, and a reading host.

The railway wagon number identification device is arranged at the position where a wagon enters and exits a station, and when a train enters and exits the station and presses the starting magnetic steel Q, the starting magnetic steel Q generates a pulse signal to trigger the radio frequency device to enter a train receiving state. When a vehicle with a tag passes through the working range of the antenna U, the antenna U receives information modulated by the tag, and the information is demodulated, amplified and decoded to obtain vehicle number information. And after the whole train passes through, turning off the RF device according to the delay time, and waiting for the next train passing. The reading host processes the vehicle passing information entering the station yard to form a vehicle passing message, and the vehicle passing message is sent to the server side.

As shown in fig. 4, in S300, the acquiring, by the hoisting device, the hoisting information of the hoisting container includes:

s310, acquiring final loading positioning information of the container when the container is unloaded through a positioning device arranged on the hoisting equipment. Optionally, the positioning device may adopt a high-precision Beidou positioning device or a GPS positioning device.

S320, acquiring weight information of the container and weight information of four hoisting points when the container is hoisted through a weighing device arranged on the hoisting equipment; and

s330, acquiring box information of the container when the container is hoisted through the box detection device arranged on the hoisting equipment.

S340, acquiring the box number information of the container when the container is hoisted through a box number identification device arranged on the hoisting equipment.

The positioning information can be latitude and longitude information of a container, and the box type information comprises a 20-foot container or a 40-foot container. That is to say, the lifting device can be provided with a positioning device, a weighing device, a box type detection device and a box number identification device, and the positioning device, the weighing device, the box type detection device and the box number identification device are used for detecting and acquiring corresponding information of the container. Optionally, the positioning information is obtained when the container is unloaded, so as to obtain the positioning information of the final loading position of the container.

In S400, the lifting information of all containers is uploaded and stored in the server. Specifically, in actual operation, the transport train stops on the station track, and the hoisting equipment loads the container from the freight yard onto the transport train. In the hoisting process, the hoisting equipment can acquire the hoisting information of the container through the positioning device, the weighing device, the box type detection device and the box number identification device and upload the hoisting information to the server. The hoisting equipment can be one or more, the one or more hoisting equipment can implement loading operation by one side or two sides of the station track, the hoisting equipment can acquire the hoisting information of the corresponding container when hoisting the container each time, all the containers to be loaded are loaded on the transport train according to a loading list of a freight yard, the containers can be loaded in any sequence, and after loading of all the containers is finished, the hoisting information of all the containers can be guaranteed to be uploaded to the server.

As shown in fig. 5, after step S400 and before step S500, the method for detecting the loading of the whole container may further include:

s410, judging whether the container is in the area of the electronic fence or not according to the electronic fence information and the positioning information.

As shown in fig. 6, in S410, it is determined whether the container is in the area of the electronic fence or not according to the electronic fence information and the positioning information, and the determination may be performed by using an algorithm such as a coordinate axis method or a ray method, where the ray method is taken as an example. In the figure, a quadrangle A-B-C-D is any quadrangle region of the electronic fence, and can be, for example, the quadrangle 1-2-3-4, or the quadrangle 3-4-5-6, etc.; point E is the location of the container, which can be obtained by a location device on the lifting equipment. And if the number of the intersection points of the ray and the quadrangle is odd, the point is in the quadrangle A-B-C-D, namely the container is loaded on the train in the electronic fence. Otherwise, the container is not correctly loaded on the train.

As shown in fig. 7, in S500, the determining, by the server, the entire loading state of the container according to the electronic fence information and the hoisting information includes:

s510, determining the arrangement condition of the container in the area of the electronic fence according to the electronic fence information and the positioning and box type information of the container;

s520, determining loading vehicles and vehicle parameters of the containers according to the spatial arrangement condition of the containers in the electronic fence area and the wagon number information of the railway wagon;

s530, judging a boxcar matching state of the whole container loaded in the container according to the weight of the container and the loaded vehicle parameters;

and S540, responding to an overload and unbalanced load state exceeding the current vehicle load, the front and rear bogie load bearing difference and the combined gravity center lateral deviation threshold value, and performing alarm operation, wherein the alarm information of the alarm operation comprises the container number, the number of the loaded vehicle and the overload and unbalanced load state of the whole vehicle.

Wherein, the overload in the overload and unbalanced load state means that the gross weight of the container carried by the transport vehicle (which can be a flat car or an open car) exceeds the limit loading value; the unbalance loading refers to the lateral deviation (usually in millimeters) of the total gravity center of the transport vehicle; the unbalanced weight means the difference of the load bearing of the left bogie and the right bogie (usually, the unit is ton) of the longitudinal direction of the transport vehicle.

The longitudinal unbalance loading S and the transverse unbalance loading H of a single container are as follows:

wherein, the distribution of the lifting points of the container is shown in figure 14, L is the distance between the longitudinal lifting points, W is the distance between the transverse lifting points, m₁、m₂、m₃、m₄The distribution is the weight values of the suspension points α, β, γ, δ (refer to fig. 14).

When one vehicle is loaded with two 20-foot containers, the total loading weight of the two containers is as follows:

m_{general assembly}＝m_{Case 1}+m_{Case 2}

Wherein m is_{Case 1}、m_{Case 2}The combined weight of each of the two 20 foot containers.

The loading of the two containers is that:

wherein S1 and S2 are the longitudinal offset values of two 20-foot containers, respectively, l₁For the geometric centre distance after loading two containers, /)₂The center distance of the bogie of the train (obtained by looking up the train number information) is obtained.

The loading unbalance loading of the two containers is as follows:

where H1, H2 are the lateral offset of each of the two 20 foot containers.

When a vehicle is loaded with a 40-foot container, the total loading weight is as follows:

m_{general assembly}＝m_{Case 3}

Wherein m is_{Case 3}Is the total weight of a 40 foot container.

The loading is carried out with the following unbalanced weight:

wherein S₃Is the longitudinal offset of a 40 foot container.

The loading unbalance loading is as follows:

H_{unbalance loading}＝H₃

Where H3 is the lateral offset of a 40 foot container.

As shown in fig. 8, in S510, the arrangement of the container in the area of the electronic fence is determined according to the electronic fence information and the location and the type information of the container. For example, in fig. 8, it can be readily seen that a first train is loaded with two 20 foot containers (commonly referred to as "two cars in one car" and shown as X) and a second train is loaded with one 40 foot container (shown as Y).

In an alternative implementation, the positioning device may be arranged at a predetermined position, e.g. a certain corner, of the lifting device spreader. Therefore, the positioning information acquired by the positioning device when the container is hoisted is the longitude and latitude information of the container at the corner hoisting point, and the length and width of the container are known, so that the longitude and latitude of each positioning point and the external rectangular coordinate of the container where each positioning point is located are converted into a Cartesian coordinate system, the server can acquire the spatial position of the container in the electronic fence, and further acquire the arrangement sequence of all the containers in the electronic fence as shown in FIG. 8. Of course, in other embodiments, the arrangement of the containers is not limited to that in fig. 8, and fig. 8 is only used for illustration.

In S520, the vehicle loading vehicle in which each container is located and the vehicle parameters of the vehicle loading are determined according to the arrangement condition of the containers in the electronic fence area and the wagon number information of the railway wagon. Sequentially determining the train numbers of 40-foot containers and two 20-foot containers (namely two containers in one train) by the spatial arrangement sequence of the train numbers of the railway freight trains and the containers in the electronic fence area, and obtaining the maximum load, the front and rear bogie bearing difference, the combined center of gravity lateral deviation and the bogie center distance l of the train vehicle corresponding to the train type by looking up a table₂。

In S530 and S540, the "boxcar matching" state of the entire loading of the container is determined according to the weight of the container and the loaded vehicle parameters, and the total weight, the loading unbalance loading and the loading unbalance information are calculated for a single 40-foot container or two 20-foot containers of each vehicle according to the above formula. According to the requirements of the current railway freight loading reinforcement rule, the unbalance loading value is usually not more than 100mm, and the unbalance weight value is not more than 10 t. When the total weight of a container loaded by one vehicle, the load bearing difference of front and rear bogies and the lateral deviation of the combined center of gravity are all in the vehicle parameter range, the 'box-vehicle matching' is met; otherwise, when the condition that the container is lacking and exceeds the current vehicle load, the front and rear bogie load bearing difference and the combined gravity center transverse deviation threshold value occurs, alarming operation is carried out, the overload and unbalanced load state containing the container number, the loaded vehicle number and the whole vehicle loading is sent to a goods yard in time, adjustment is carried out in time, and accidents in the transportation process are avoided.

As shown in fig. 9, after S400 and before S500, the method for detecting the loading of the container in the whole vehicle may further include:

s420, acquiring the number of the hoisting equipment;

s430, judging whether the positioning device is installed at a preset position of the hoisting equipment or not according to the serial number of the hoisting equipment;

s440, responding to the fact that the positioning device is not installed at the preset position of the hoisting equipment, and performing coordinate transformation on the position of the positioning device.

The number of the hoisting equipment and the installation position of the positioning device on the hoisting equipment are all known information. Normally, the positioning device can be installed at the upper right corner of the spreader of the hoisting equipment, but for some hoisting equipment, due to mechanical structure reasons, the positioning device cannot be installed at the upper right corner, and the coordinate conversion is performed on the container positioning information acquired by the positioning device. The reason for this is that, for example, when two hoisting devices are used for operation, and the positioning device of one hoisting device is installed at the upper right corner of the spreader, and the positioning device of the other hoisting device is installed at the upper sitting corner of the spreader, it is obvious that the container positioning information obtained by the two hoisting devices is also the longitude and latitude information of different positions of the container, and further, when the mixed loading condition of the container is determined by subsequently combining the box information, a problem occurs. At this time, coordinate conversion needs to be performed on positioning information obtained by the hoisting equipment with different installation positions of the positioning device. In addition, in actual operation, when the hoisting equipment rotates or a plurality of hoisting equipment simultaneously operate on two sides of the track, coordinate conversion may be required for the same reason. An alternative way of converting the coordinates for both cases is provided below.

As shown in fig. 10, when the hoisting device rotates or operates on both sides of the station track, whether coordinate transformation is needed or not can be determined according to the distance, and the diagram includes a quadrilateral area a-B-C-D and a quadrilateral area C-D-G-H of the electronic fence and a positioning point E of a container located in the quadrilateral, if the requirements are met:

the operation is performed under normal working conditions;

otherwise, the coordinate of the central symmetrical point E' of the point E is solved according to the size of the detected box type. In the coordinate system, the coordinates of two points are (Lng1, Lat1) and (Lng2, Lat2), respectively, and the distance between the two points is:

wherein R is the radius of the earth;

therefore, if the coordinates of the E point are (Lng, Lat) and the coordinates of the E ' point are (Lng ', Lat '), then:

and obtaining the coordinate of the E 'point of the E point after coordinate transformation, wherein theta is the included angle between EE' and EF.

When the hoisting equipment cannot be provided with the positioning device at the upper right corner of the hoisting equipment due to the mechanical structure, the coordinate transformation is carried out once according to the method, and then whether the requirement is met or not is judged

If the distance condition (2) is not satisfied, the above coordinate conversion is performed again.

It should be noted that the positioning device may be disposed at any position of the hoisting apparatus, and this embodiment is only described by way of example that the positioning device is disposed at the upper right corner of the hoisting apparatus.

The method for detecting the loading state of the whole container truck can automatically detect the matching state of the container truck, prevent the condition that the loading of the whole container truck exceeds the threshold value and exceeds the unbalanced load condition, improve the freight safety, avoid human intervention and improve the efficiency and flexibility of the loading operation of the container truck.

Fig. 11 is a schematic diagram of a container loading information processing system according to an embodiment of the present invention. The system comprises a hoisting device 10 and a server 90, wherein the hoisting device 10 is configured to acquire and upload hoisting information of a hoisted container, the hoisting information comprises the weight and four hoisting point weights of the hoisted container, unloading positioning, box type and box number, and the server 90 is configured to acquire electronic fence information and railway wagon number information and judge the whole vehicle loading state of the container according to the electronic fence information, the railway wagon number information, the weight and four hoisting point weights of the container, the positioning and the box type information. The hoisting device 10 and the server 90 of the present embodiment may have the same structure as the hoisting device 10 and the server 90 of the above embodiments, and the electronic fence and the hoisting information may refer to the embodiments. Optionally, the lifting device 10 may be a reach stacker or a gantry crane, and the lifting device 10 may include a retractable hanger, which may be extended to fit the size of the container when lifting the container, and retracted to be stowed when not lifting.

As shown in fig. 12, the telescopic spreader 20 may be provided with a positioning device 30. Optionally, the positioning device 30 is located at the upper right corner of the telescopic spreader 20 and can move synchronously with the telescopic spreader 20 so as to obtain the positioning confidence of the container during the hoisting. And the distances a and b from the positioning device 30 to the upper edge and the side edge are the same, so that it can be distinguished whether the telescopic spreader 20 horizontally rotates 180 ° during hoisting or whether the telescopic spreader simultaneously operates on both sides of the track. In other alternative implementations, if the positioning device 30 is mounted in other positions due to mechanical structure reasons, it should be ensured that the positioning device 30 is at the same distance from both side edges of the telescopic spreader 20.

As shown in fig. 13, the telescopic spreader 20 may be provided with a box-type detection device 40, and the box-type detection device 40 is used for detecting box-type information of the container to be lifted, including a 40-foot container or a 20-foot container, when lifting. Optionally, the box-type detecting device 40 may include a laser ranging device, and the laser ranging device is disposed on the fixing surface of the retractable hanger 20, faces the retractable surface, and is configured to measure the retractable distance of the retractable hanger 20, so as to determine the box-type information of the hoisted container. For example, the 20-foot container has a length dimension of 6058mm, and the measurement threshold is set to 6058 ± 100mm, and when the measurement length is within the threshold range, the 20-foot container is determined. The 40 foot container has a length dimension of 12192mm and the measurement threshold can be set to 12192 ± 150 mm.

Wherein fig. 12 and 13 show schematic views of the telescopic spreader 20 in both non-extended and extended states, respectively, for ease of understanding, but not for limiting the present embodiment.

Alternatively, the weighing device 50 may include a plurality of weight sensors, which are respectively disposed at a plurality of lifting point positions of the lifting apparatus 10. For example, if the four corners of the retractable hanger 20 are hanging points, four weight sensors may be provided and respectively disposed at the four corners of the hanging points. When the retractable hanger 20 unloads the container on the vehicle, the values of the weight sensors change, and the change values of the respective weight sensors are added to obtain the weight of the corresponding container. As shown in fig. 10, the hoisting device 10 may further be provided with a box number identification device 60, and the box number identification device 60 may include an image acquisition module (e.g., a camera), and an acquisition range of the image acquisition module at least covers box numbers within a three-layer height range of container stacking.

When the hoisting equipment 10 hoists and loads the container on the train, the container number is automatically identified through the container number identification device 60, so that the container can be directly traced to the corresponding vehicle and the container number when the unmatched condition of the container vehicle is found, manual sequential searching is not needed, and the time is saved. The embodiment is described in the case that the container has four lifting points (respectively at four corners), in other embodiments, the lifting points of the container are not limited to the four corners, and the lifting points may have one or more lifting points and may be located at any position of the container, which does not affect the detection of the entire loading state of the container based on the principle of the embodiment. As shown in fig. 11, the lifting device 10 may further include a data processing display device 70 and a wireless transceiver 80, the weighing device 50, the positioning device 30, the box-type detecting device 40, and the box number identifying device 60 may all be electrically connected to the data processing display device 70, the data processing display device 70 is electrically connected to the wireless transceiver 80, and the wireless transceiver 80 may transmit the received lifting information of the container to the server 90. Meanwhile, the data processing and displaying device may further include a display screen (not shown), and the display screen may be disposed in the cab of the lifting device 10, and is used for implementing human-computer interaction, displaying lifting information of the container, and the like. In addition, the server 90 can retrieve and call up the stored data, and send the data to the display screen of the data processing and displaying device 70 through the wireless transceiver 80 for the operator to view.

The detection method of the loading state of the whole container truck and the information processing system of the loading state of the whole container truck can realize automatic detection of the matching state of the container truck when the whole container truck is loaded, prevent the occurrence of the overload condition that the loading vehicle of the whole container truck exceeds the threshold value, particularly the condition of empty-heavy mixed loading, improve the operation efficiency and improve the railway freight safety.

The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (11)

1. A method for detecting the loading state of a whole container vehicle is characterized by comprising the following steps:

the server acquires electronic fence information;

the railway wagon number identification device uploads automatically identified wagon number information of the railway wagon to the server;

the method comprises the steps that hoisting information of a hoisted container is obtained by hoisting equipment, wherein the hoisting information comprises the weight of the hoisted container, unloading location, a box type and a box number;

the hoisting equipment uploads the hoisting information to a server;

and the server judges the loading state of the whole container according to the electronic fence information, the wagon number information and the hoisting information.

2. The method of claim 1, wherein the electronic fence comprises a plurality of quadrilateral areas arranged in parallel, and wherein the electronic fence covers a transportation corridor of the container.

3. The method of claim 1, wherein the railroad car number identification device is configured to acquire the car number information of the railroad car on a car-by-car basis as the railroad car travels into a working track.

4. The method of claim 1, wherein the step of judging the loading state of the container by the server according to the electronic fence information, the railway wagon number information and the hoisting information comprises the steps of:

determining the arrangement condition of the container in the area of the electronic fence according to the electronic fence information and the positioning and box type information of the container;

determining loading vehicles of the containers and vehicle parameters of the loading vehicles according to the spatial arrangement condition of the containers in the electronic fence area and the wagon number information of the railway wagon;

judging a boxcar matching state of the whole container loaded in the container according to the weight of the container and the loaded vehicle parameters;

and responding to an overload and unbalanced load state exceeding the current vehicle load, the front and rear bogie load bearing difference and the combined gravity center transverse deviation threshold value, and performing alarm operation, wherein alarm information of the alarm operation comprises a container number, a loaded vehicle number and an overload and unbalanced load state loaded by the whole vehicle.

5. The method of claim 1, wherein the hoisting device obtaining hoisting information for hoisting the container comprises:

acquiring positioning information of the container when the container is unloaded through a positioning device arranged on the hoisting equipment;

acquiring weight information of four hoisting points of the container when the container is hoisted through a weighing device arranged on the hoisting equipment;

acquiring box information of the container when the container is hoisted through a box detection device arranged on the hoisting equipment;

and acquiring the box number information of the container when the container is hoisted by the box number identification device arranged on the hoisting equipment.

6. The method of claim 5, wherein after the hoisting device uploads the hoisting information to the server, before the server determines the loading state of the container according to the electronic fence information, the wagon number information and the hoisting information, the method for detecting the loading of the whole container further comprises:

acquiring the number of the hoisting equipment;

judging whether the positioning device is installed at a preset position of the hoisting equipment or not according to the serial number of the hoisting equipment;

and performing coordinate transformation on the position of the positioning device in response to the fact that the positioning device is not installed at the preset position of the hoisting equipment.

7. The method of claim 1, wherein after the hoisting device uploads the hoisting information to the server, and before the server determines the loading state of the container according to the electronic fence information and the hoisting information, the method for detecting the loading of the whole container further comprises:

and judging whether the container is in the area of the electronic fence or not according to the electronic fence information and the positioning information, namely judging whether the container is loaded into a train or not.

8. A container vehicle loading information processing system is characterized by comprising:

the hoisting equipment is configured to acquire and upload hoisting information of a hoisted container, wherein the hoisting information comprises the weight of the hoisted container, unloading location, box type and box number;

the railway wagon number identification device is configured to acquire and upload wagon number information of the railway wagon; and

and the server is configured to acquire electronic fence information and judge the whole vehicle loading state of the container according to the electronic fence information, the wagon number information and the weight, positioning and box type information of the container.

9. The system according to claim 8, wherein the lifting device comprises a telescopic spreader provided with a weighing device, a positioning device and a box-type detection device, wherein the weighing device and the positioning device are arranged to follow a telescopic synchronous movement of the telescopic spreader.

10. The system of claim 9, wherein the weighing device comprises a plurality of weight sensors, and the plurality of weight sensors are respectively and correspondingly arranged at a plurality of lifting point positions of the lifting device;

the box detection device comprises a laser ranging device, and the laser ranging device is arranged to measure the telescopic distance of a telescopic lifting appliance of the lifting equipment.

11. The system according to claim 8, wherein a box number recognition device is further arranged on the hoisting equipment, the box number recognition device comprises an image acquisition module, and the acquisition range of the image acquisition module at least covers box numbers within three-layer height range of container stacking;

the railway wagon number recognition device is arranged at the station position where railway wagon vehicles enter and exit and is arranged to acquire the wagon number information of the railway wagon one by one when the railway wagon drives into the operation station track.

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