CN209356883U - A kind of container control system and container - Google Patents
A kind of container control system and container Download PDFInfo
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- CN209356883U CN209356883U CN201920108728.4U CN201920108728U CN209356883U CN 209356883 U CN209356883 U CN 209356883U CN 201920108728 U CN201920108728 U CN 201920108728U CN 209356883 U CN209356883 U CN 209356883U
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/25—Pc structure of the system
- G05B2219/25314—Modular structure, modules
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Abstract
The utility model discloses a kind of container control system, comprising: locating module, posture determining module, communication module, and the controller being separately connected with the locating module, posture determining module and communication module；The locating module obtains the location information of container for positioning to container；The posture determining module, for measuring the triaxial attitude angle and acceleration of container；The controller obtains the posture information of container for obtaining the location information, triaxial attitude angle and acceleration, and according to the triaxial attitude angle and acceleration calculation；The communication module, location information and posture information for obtaining controller are sent to the communication equipment with communication module communication connection.The utility model solves the problems, such as that container management intelligence degree in the prior art is low, the efficiency of management is low.
Description
Technical field
The utility model relates to intelligent container field more particularly to a kind of container control systems and container.
Background technique
Container can load packaging or unpacked goods is transported, and convenient for carrying out handling with mechanical equipment,
A whole set of transportation system container maximum standardization for being successfully its product and thus established.It can allow a load-carrying
Tens tons of huge monster realizes standardization, and be done step-by-step in global range based on this ship, harbour, course line,
The logistics system that highway, storage center, bridge, tunnel, multimodal transport match.Container according to size, load,
Manufacture material is divided into different types, suitable for different cargo transport demands.But a Pang is needed to the management of container
Big control system needs artificial mode to be acquired the various information of container, such as location information, the collection of container
The posture information etc. of vanning, this mode intelligence degree is low, is not easy to information management, occupies more human resources, can also
It causes container handling, transport or the process of storage is many and diverse, inefficiency.
Utility model content
In view of technological deficiency existing in the prior art and technology drawback, the utility model embodiment offer overcomes above-mentioned ask
Inscribe or at least be partially solved a kind of container control system and container of the above problem.
As the utility model embodiment, it is related to a kind of container control system, comprising: locating module, posture determine mould
Block, communication module, and the controller being separately connected with the locating module, posture determining module and communication module；
The locating module obtains the location information of container for positioning to container；
The posture determining module, for measuring the triaxial attitude angle and acceleration of container；
The controller, for obtaining the location information, triaxial attitude angle and acceleration, and according to the three axis appearance
State angle and acceleration calculation obtain the posture information of container；
The communication module, location information and posture information for obtaining controller are sent to and the communication module
The communication equipment of communication connection.
In one embodiment, it can be, the locating module is when receiving the positioning open command of controller transmission
The container is positioned；And stop in the locating closing instruction for receiving controller transmission to the container
It is positioned；
And/or posture determining module measurement container when receiving the measurement open command of controller transmission
Triaxial attitude angle and acceleration；And when receiving the measurement halt instruction of controller transmission, stop the three of measurement container
Axis attitude angle and acceleration.
In one embodiment, it can be, the controller is also used to, and can not get position from the locating module
When information, the last time is got from locating module using Kalman filter location information and the triaxial attitude angle and
Acceleration carries out fusion treatment, obtains the location information of container.
In one embodiment, it can be, the container control system, further include being deposited with what the controller was connect
Store up module:
Memory module is used for storage container information；The container information includes at least one of following message: collection
The identity information of vanning, the goods information of container, the internal environmental information of container, container trace information and container
Destination information.
In one embodiment, it can be, the container control system, further include the prison being connect with the controller
Survey module, in which:
Monitoring modular obtains the internal environmental information of container for the internal environment of monitoring containers.
In one embodiment, it can be, the container control system, further include power supply module, inertia measurement mould
Block and power management module, the power supply module, inertia measuring module are connect with the power management module respectively, the power supply
Module provides power supply for other modules of the container control system；
Inertia measuring module, for measuring the triaxial attitude angle and acceleration of the container, and by the three-axis attitude
Angle and acceleration are sent to the power management module；
Power management module judges the packaging for the triaxial attitude angle and acceleration according to the container received
Case remains static or active state；The power supply module is controlled if remaining static to supply according to preset time interval
Electricity；The power supply module continued power is controlled if being in active state.
In one embodiment, it can be, the container control system, further include the mark being connect with the controller
Sign generation module, in which:
Tag generation module, the container information for being sent according to the controller are generated or are updated for identifying
State the label of container information.
As the another aspect of the utility model embodiment, it is related to a kind of container, comprising: collection described in any of the above embodiments
Vanning control system.
The utility model embodiment at least realizes following technical effect:
1, container control system provided by the embodiment of the utility model, by locating module and posture determining module to collection
Vanning carries out positioning and attitude measurement, and is sent to controller, and the communication equipment of communication connection is reported to by communication module.No
It needs manually to participate in, so that it may complete the location information of container and the acquisition of posture information and transmission, intelligence degree is high, side
Container information management；When carrying out container handling, the location information of container and posture information are set with lifting
Standby shared, hanging device can be quickly obtained the current location of container according to the location information of container, in cargo handling process
Lifting angle, height and the speed for adjusting the suspender of hanging device in real time according to the posture information of container, improve container
The efficiency of loading and unloading；In Container Transport, the location information of container and posture information are shared with transporting equipment, is readily transported and sets
The standby location information according to container, realizing route planning reach container position and it are loaded and are transported, or
According to container attitudes vibration during transportation, the speed of service or the direction of transporting equipment are adjusted in time, improves conevying efficiency
And safety；During container storage, the location information of container and posture information are shared with storage center, convenient in storehouse
The position of container is searched at storage center, carries out statistical management to container, and judge whether to need to container
Posture when storage is adjusted, and improves the efficiency of management of container.
2, container control system provided by the embodiment of the utility model, controller is by sending control instruction control positioning
Module and posture determining module work, and can according to need the real-time or intermittent position to container and carry out positioning or right
The triaxial attitude angle and acceleration of container measure, and system administration is easy, flexible.
3, container control system provided by the embodiment of the utility model, controller can report packaging according to external request
The location information and posture information of case, or believe according to the location information and posture of scheduled time cycle active reporting container
Breath, container control system can carry out location information and posture information according to different transports, handling or storage condition
Report, system administration is convenient, improves the flexibility of information management.
4, container control system provided by the embodiment of the utility model can also use Kalman filter by controller
The location information and the triaxial attitude angle and acceleration receive to the last time from locating module carries out fusion treatment, thus
The location information of container is obtained, is blocked when blind location area or failure occurs in locating module, or in some positioning signals
Positioning to container also may be implemented in more serious region.
5, container control system provided by the embodiment of the utility model, by monitoring modular, to the inner loop of container
Border is monitored, and whether the cargo storage environment of monitoring containers is suitable for that whether there is or not safety problems.
6, container control system provided by the embodiment of the utility model, by power management module, to the power supply of system
Power supply is controlled, and when container is in active state, continues to be in static shape in container to each electricity consumption module for power supply
When state, the interval predetermined time to each electricity consumption module for power supply, wakes up container control system, realizes can only control to power supply power supply
System reduces system power consumption, saves electric energy.
7, container control system provided by the embodiment of the utility model, is generated by tag generation module or update is used for
The label for identifying the container information obtains container by the label of external label reader Direct Recognition container
Relevant information, convenient for being managed to container.
Other features and advantages of the utility model will illustrate in the following description, also, partly from specification
In become apparent, or understood and implementing the utility model.The purpose of this utility model and other advantages can pass through
Documented structure is achieved and obtained in the written description, claims, and drawings.
Below by drawings and examples, the technical solution of the utility model is described in further detail.
Detailed description of the invention
Attached drawing is used to provide a further understanding of the present invention, and constitutes part of specification, practical with this
Novel embodiment is used to explain the utility model together, does not constitute limitations of the present invention.In the accompanying drawings:
Fig. 1 provides a kind of structural schematic diagram of container control system for the utility model embodiment；
Fig. 2 provides the structural schematic diagram of another container control system for the utility model embodiment；
Fig. 3 provides the structural schematic diagram of the third container control system for the utility model embodiment；
Fig. 4 provides the structural schematic diagram of the 4th kind of container control system for the utility model embodiment；
Fig. 5 provides the structural schematic diagram of the 5th kind of container control system for the utility model embodiment.
Specific embodiment
Exemplary embodiments of the present disclosure are described in more detail below with reference to accompanying drawings.Although showing the disclosure in attached drawing
Exemplary embodiment, it being understood, however, that may be realized in various forms the disclosure without should be by embodiments set forth here
It is limited.On the contrary, these embodiments are provided to facilitate a more thoroughly understanding of the present invention, and can be by the scope of the present disclosure
It is fully disclosed to those skilled in the art.
Example embodiments are described in detail here, and the example is illustrated in the accompanying drawings.Following description is related to
When attached drawing, unless otherwise indicated, the same numbers in different drawings indicate the same or similar elements.Following exemplary embodiment
Described in embodiment do not represent all embodiments consistent with the utility model.On the contrary, they be only with such as
The example of the consistent device and method of some aspects be described in detail in the appended claims, the utility model.
Separately below to the various specific implementations of container control system provided by the embodiment of the utility model and container
Mode is described in detail.
Embodiment one
Referring to Fig.1, a kind of container control system that the utility model embodiment one provides, comprising: locating module 1, appearance
State determining module 2, communication module 3, and be separately connected with the locating module 1, posture determining module 2 and communication module 3
Controller 4；
The locating module 1 obtains the location information of container for positioning to container；
The posture determining module 2, for measuring the triaxial attitude angle and acceleration of container；
The controller 4, for obtaining the location information, three kinds of attitude angles and acceleration, and according to three axis
Attitude angle and acceleration calculation obtain the posture information of container；
The communication module 3, location information and posture information for obtaining controller 4 are sent to and the communication mould
The communication equipment that block 3 communicates to connect.
In the utility model embodiment, locating module 1 can be any equipment with positioning function, can be using existing
There is the global position system in technology, such as global positioning system (Global Positioning System, GPS), Beidou are defended
Star navigation system (BeiDou Navigation Satellite System, BDS) or Global Satellite Navigation System (Global
Navigation Satellite System, GLONASS), as long as can be realized the positioning to container, this is practical new
The concrete model and structure of locating module 1 are not construed as limiting in type embodiment.
In the utility model embodiment, posture determining module 2 can be Inertial Measurement Unit (Inertial
Measurement unit, IMU) or other can be realized and the triaxial attitude angle and acceleration of container measured
Inertia measurement equipment is not construed as limiting the concrete model and structure of posture determining module 2 in the utility model embodiment.This is practical
In new embodiment, by posture determining module 2, the triaxial attitude angle and acceleration of container is measured, can be used for
Calculating in controller 4, to information such as the shift position of container, speed, tilt angles.
In the utility model embodiment, controller 4, can be micro-control unit (Microcontroller Unit,
MCU) or other control equipment, as long as can be realized the control function to container control system, the utility model is implemented
The concrete model and structure of controller 4 are not construed as limiting in example.
Communication module 3 in the utility model embodiment can be wireless telecom equipment, can be applicable in the prior art
Communication mode is communicated with the realization of the communication equipment of communication connection, such as narrowband Internet of Things (Narrow Band Internet of
Things, NB-IoT), 4G, WIFI, the communication modes such as purple honeybee Zigbee, realize container control system and other communication equipments
Between communication and ad hoc network function.Other communication equipments are sent by posture information, location information.It is embodied at one
In example, the communication module 3 is that the communication module using NB-IoT mode provides larger face while saving electric energy to realize
Long-pending cellular data connects covering.
In the utility model embodiment, the communication equipment communicated to connect with communication module 3 can be set to be referred in port dispatching
Wave center, transporting equipment (such as ship, vehicle etc.), hanging device (such as gantry crane, tyre crane, front handling mobile crane, overhead traveling crane etc.) or storehouse
Storage center or the communication equipment can be cloud server.In the utility model embodiment, container control system can lead to
It crosses communication module 3 and is carried out with the communication equipment that port dispatching command centre, transporting equipment, hanging device or storage center is arranged in
Ad hoc network realizes by ad hoc network and communicates that the implementation of ad hoc network can use ad hoc network method in the prior art, this reality
It is not construed as limiting in new embodiment.
In the utility model embodiment, the locating module 1, posture determining module 2, communication module 3 and controller 4 can be with
It is set on the outside of the cabinet of container, or is set to the box inside of container, can also be arranged in that can be realized this practical new
The other positions of type technical solution, as long as can be realized the positioning to container, to the triaxial attitude angle and acceleration of container
It measures, is not construed as limiting in the utility model embodiment.
Container control system provided by the embodiment of the utility model is collected by locating module 1 and 2 pairs of posture determining module
Vanning carries out positioning and attitude measurement, and is sent to controller 4, and is reported to the communication of communication connection to set by communication module 3
It is standby.It does not need manually to participate in, so that it may complete the location information of container and the acquisition of posture information and transmission, intelligence degree
Height facilitates the information management of container；When carrying out container handling, by the location information of container and posture information with hang
Collaborative share is filled, hanging device can be quickly obtained the current location of container according to the location information of container, load and unload
It adjusts lifting angle, height and the speed of the suspender of hanging device in journey in real time according to the posture information of container, improves packaging
The efficiency of loading and unloading of case；In Container Transport, the location information of container and posture information are shared with transporting equipment, convenient for fortune
Transfer device judges the position and attitudes vibration, the timely speed of service for adjusting transporting equipment or side of container during transportation
To raising conevying efficiency and safety；It, will be in the location information of container and posture information and storage during container storage
The heart is shared, convenient for searching in storage center container, judges posture when whether container needs to adjust storage, improves
The efficiency of management of container.
In one embodiment, further to save power supply, locating module 1 and/or posture determining module 2 can not be one
It is straight in running order, work is only just opened when receiving the control instruction of controller 4.Therefore, the container control
The locating module 1 of system processed positions the container when receiving the positioning open command of the transmission of controller 4；With
And stop positioning the container in the locating closing instruction for receiving the transmission of controller 4.
The posture determining module 2 measures three axis of container when receiving the measurement open command of the transmission of controller 4
Attitude angle and acceleration；And when receiving the measurement halt instruction of the transmission of controller 4, stop three axis of measurement container
Attitude angle and acceleration.
Container control system provided by the embodiment of the utility model, controller 4 is by sending control instruction control positioning
Module 1 and posture determining module 2 start work or stop working, and can according to need the real-time or intermittent position to container
Position or measure the triaxial attitude angle and acceleration of container, system administration is easy, flexible.
In one embodiment, it can be, the controller 4 is being received by communication module 3 from the communication equipment
When the request instruction of communication equipment, correspondence is sent for the location information of container and posture information by the communication module 3
Communication equipment.Alternatively, controller 4 according to the scheduled time cycle by the communication module 3 by the location information of container
Corresponding communication equipment is sent to posture information.The application does not do considered critical.
Container control system provided by the embodiment of the utility model, controller 4 can report packaging according to external request
The location information and posture information of case, or believe according to the location information and posture of scheduled time cycle active reporting container
Breath, container control system can carry out location information and posture information according to different transports, handling or storage condition
Report, system administration is convenient, improves the flexibility of information management.
In one embodiment, the controller 4 can be further used for not get from the locating module 1
The location information that the last time is got from locating module 1 using Kalman filter when location information and the three axis appearance
State angle and acceleration carry out fusion treatment, obtain the location information of container.
Container control system provided by the embodiment of the utility model can not get position from the locating module 1
Information situation, is included in that locating module 1 is in blind location area or locating module 1 breaks down or locating module 1 is in
Some positioning signals block more serious region.At this point it is possible to by controller 4 using Kalman filter to the last time from
The location information and the triaxial attitude angle and acceleration that locating module 1 is got carry out fusion treatment, to obtain container
Location information, realize positioning to container.
In a specific embodiment, the controller 4 is opened after the location information for receiving the transmission of locating module 1 every time
Beginning timing, if also from locating module 1 do not receive location information when timing duration reaches preset duration threshold value, it is determined that nothing
Method gets location information from locating module 1.
Existing inertial navigation technique can be used in foregoing fusion processing mode, is no longer discussed in detail herein.Certainly, it is replaced some
For in scheme, the posture determining module 2 can be replaced with inertial navigation positioning device, directly pass through inertial navigation positioning device output collection
The location information of vanning does not need controller 4 and carries out inertial navigation fusion processing.
In one embodiment, it can be, container control system described in Fig. 1 further includes connecting with the controller 4
Memory module 5 (memory module 5 can be memory), as shown in Fig. 2, the memory module 5 be used for storage container information；
The container information includes at least one of following message: the identity information of container, the goods information of container, packaging
The destination information of the internal environmental information of case, the trace information of container and container.Wherein: the cargo letter of the container
Breath includes one or more of information: cargo type, goods weight and the quantity of goods of container；The inside of the container
Environmental information includes one or more of information: temperature information, humidity information, light luminance information and the smog of container contain
Measure information；The trace information of the container includes the location point being ranked up according to the sequence of time from morning to night, the collection
The trace information of vanning can be stored by the controller 4 into the memory module 5.It in one example, can be by controlling
Device 4 generates the trace information of container according to the location information received from locating module 1, and the trace information is written to
In memory module 5.In another example, it is also possible that during Container Transport, by communication module 3 according to scheduled
Time cycle is communicated with the communication equipment of transporting equipment (for example, vehicle or ship), obtains the navigation information of transporting equipment,
The trace information of container is generated according to the navigation information of the transporting equipment received from communication module 3 by controller 4, and will
The trace information is written in memory module 5.
Container control system provided by the embodiment of the utility model passes through memory module 5, storage container information, root
Lookup and identity validation are carried out to container according to the identity information of container, according to goods information when carrying out container hanging,
Different Hoisting Programs is selected, managing and maintaining for container is realized according to internal environmental information, according to trace information disaggregation
The transportational process of vanning, according to destination information by Container Transport to scheduled target harbour.Further, the container
Destination can be road-port, harbour of bordering on the sea, mining area, storage center or logistics center, then the destination information of container can
To be corresponding road-port, harbour of bordering on the sea, mining area, storage center or logistics center's information.
In one embodiment, can be, may also include that in the container control system described in earlier figures 1, Fig. 2 with
The monitoring modular 6 of the controller connection, as shown in Figure 3, in which:
Monitoring modular 6 obtains the internal environmental information of the container for the internal environment of monitoring containers.
Container control system provided by the embodiment of the utility model, by monitoring modular 6, to the internal environment of container
It is monitored, whether the cargo storage environment of monitoring containers is suitable for that whether there is or not safety problems, such as container to be provided with raw and cold food
When object, the temperature of the internal container is unsuitable excessively high so as not to raw and cold food spoilage.
In a specific embodiment, it can be, after container loading cargo, store packaging in memory module 5 in advance
Identity information, goods information, the initial internal environmental information and destination information of case, in Container Transport or storing process
In, by monitoring modular 6, the internal environment of container is monitored, obtains the internal environmental information of container.The inside
Environmental information includes one or more of information: temperature information, humidity information, light luminance information and smog content information.
If the internal environment of container changes, then pass through the internal environmental information of 4 real-time update container of controller.Monitoring module
The internal environment of container is monitored, used sensor or other monitoring devices can be in the prior art set
It is standby, in the utility model embodiment, this is not construed as limiting.In one example, the internal environment that monitoring modular 6 obtains monitoring
Information directly writes in memory module 5.In another example, the internal environmental information that monitoring modular 6 obtains monitoring is sent out
Controller 4 is given, the internal environmental information received is written in memory module 5 by controller 4.
In one embodiment, it can be, the container control system described in earlier figures 1, Fig. 2, Fig. 3, further includes: supply
Electric module 7, inertia measuring module 8 and with power management module 9, the power supply module 7, inertia measuring module 8 respectively with it is described
Power management module 9 connects, and the power supply module 7 provides power supply for other modules of the container control system；Such as Fig. 4 institute
Show, in which:
Inertia measuring module 8, for measuring the triaxial attitude angle and acceleration of the container, and by the three-axis attitude
Angle and acceleration are sent to the power management module 9；
The power management module 9 is used for triaxial attitude angle and acceleration according to container, judges that container is in quiet
Only state or active state；The power supply module 7 is controlled if remaining static to power according to preset time interval；If place
7 continued power of power supply module is then controlled in active state.
Container control system provided by the embodiment of the utility model supplies the power supply of system by power management module 9
Electricity is controlled, and when container is in active state, continues to remain static to each electricity consumption module for power supply in container
When, the interval predetermined time to each electricity consumption module for power supply, wakes up container control system, realizes can only control to power supply power supply
System reduces system power consumption, saves electric energy.
The power management module 9 can be power management chip (Power Management Integrated
Circuits, PMIC), the power consumption of power management module 9 itself is also considerably less.
In one embodiment, can be, the container control system described in Fig. 1, Fig. 2, Fig. 3 and Fig. 4, further include with
The tag generation module 10 that the controller 4 connects, as shown in Figure 5, in which:
Tag generation module 10, the container information for being sent according to the controller 4 are generated or are updated for identifying
The label of the container information, the container information include one or more of information: identity information, the collection of container
The goods information of vanning, the internal environmental information of container, the trace information of container and the destination information of container.
Container control system provided by the embodiment of the utility model, is generated or is updated by tag generation module 10 and be used for
The label for identifying the container information obtains container by the label of external label reader Direct Recognition container
Relevant information, convenient for being managed to container.
In a specific embodiment, the label can be electronic tag, and the corresponding tag generation module 10 exists
When receiving container information, which is written in the memory of the electronic tag.
In another specific embodiment, the label can be two dimensional code or bar code, and correspondingly the label generates
Module 10 can be two-dimension code generator or bar code generating is grown up to be a useful person.For example, an electricity can be provided on the outside of container
Sub-viewing areas, tag generation module 10 generate two dimensional code or bar code later by the two dimensional code or bar code display described
Electronic display area.
In one embodiment, there are many embodiments for the implementation of the control system of container, can pass through difference
Application scenarios be illustrated:
Scene 1, when harbour carries out unloading case to ship, the container crane on ship is attached to by vehicle by hanging device
On.
After ship to port, the controller 4 of container control system, abstract factory generation module 10 generates or updates mark
Label.Before lifting starts, hanging device reads the label of container by reader, container information is obtained, to container information
It is analyzed, determines Hoisting Program；It is communicated by the communication equipment of hanging device with container control system, controller 4 will be determined
The location information that position module 1 obtains, is sent to hanging device by communication module 3, so that hanging device determines the position of container
It sets, container crane is attached to vehicle, then be transported through by vehicle.During container hanging, the measurement collection of posture determining module 2
The triaxial attitude angle and acceleration of vanning, and upload to the controller 4；Controller 4 is real-time by the container being calculated
Posture information hanging device is sent to by communication module 3, hanging device is set according to the posture information of container, adjustment lifting
Height, the translational velocity of deflection angle and suspender of standby suspender, are adjusted posture of the container in moving process, make
It is smoothly lifted into vehicle.
The container of vehicle loading is unloaded to storage center/stockyard by scene 2.
Vehicle reach storage center after, by storage center management equipment by reader reading container label with
Container information is obtained, and sends the hanging device positioned at storage center for container information；Alternatively, being passed through by hanging device
Reader reads the label of container to obtain container information.Hanging device analyzes container information, determines lifting
Scheme；It is communicated by the communication equipment of hanging device with container control system, the positioning that controller 4 obtains locating module 1
Information is sent to hanging device by communication module 3, so that hanging device determines the position of container, container is unloaded to
The specified warehouse district of storage center, during container hanging, posture determining module 2 measure container triaxial attitude angle and
Acceleration, and upload to the controller 4；The real-time posture information for the container being calculated is passed through communication by controller 4
Module 3 is sent to hanging device, and hanging device adjusts the height of suspender, deflection angle and hangs according to the posture information of container
The translational velocity of tool is adjusted posture of the container in moving process, it is made smoothly to be lifted into specified warehouse district.
Scene 3, container are placed in storage center and are stored.
When container is placed in storage center and is stored, power management module 9 sent according to inertia measuring module 8 three
Axis attitude angle and acceleration, when judging that container remains static, interval setting time wakes up to each electricity consumption module for power supply
Container control system realizes that container control system works in low power consumpting state, saves electric energy.In container storing process
In, monitoring module 6 can be monitored the internal environment of container.Monitoring module 6 includes temperature sensor, humidity sensor
Device, light sensor and smoke sensor device, for the temperature of monitoring containers, humidity, light luminance and smog content.For example,
It is stored in container when being chemical substance or other combustible and explosive articles, monitoring module monitors the temperature of container, humidity
Or smokescope sends controller 4 for obtained environment inside containers information when changing, it is timely by controller 4
Storage center or remote server are reported to, judges whether to need to packaging by storage center monitoring personnel or remote monitoring personnel
The internal environment state of case is adjusted or handles the cargo of loading.
Certainly, the container control system that the embodiment of the present disclosure provides is not limited to above-mentioned several usage scenarios, above-mentioned column
The scene of act only example.
Embodiment two
Based on the same inventive concept, the utility model embodiment additionally provides a kind of container, comprising: in above-described embodiment
Described in any item container control systems.By the principle and aforementioned container control system phase of the solved problem of the container
Seemingly, overlaps will not be repeated.
In the utility model embodiment, the vehicle includes all cargo transport vehicles, such as truck, lorry, half
Trailer, cargo, AGV (Automated Guided Vehicle) trolley, fork truck, railroad vehicle etc..
Obviously, it is practical without departing from this can to carry out various modification and variations to the utility model by those skilled in the art
Novel spirit and scope.If in this way, these modifications and variations of the present invention belong to the utility model claims and
Within the scope of its equivalent technologies, then the utility model is also intended to include these modifications and variations.
Claims (8)
1. a kind of container control system characterized by comprising locating module, posture determining module, communication module, and
The controller being separately connected with the locating module, posture determining module and communication module；
The locating module obtains the location information of container for positioning to container；
The posture determining module, for measuring the triaxial attitude angle and acceleration of container；
The controller, for obtaining the location information, triaxial attitude angle and acceleration, and according to the triaxial attitude angle
The posture information of container is obtained with acceleration calculation；
The communication module, location information and posture information for obtaining controller are sent to be communicated with the communication module
The communication equipment of connection.
2. container control system as described in claim 1, which is characterized in that the locating module is receiving controller hair
The container is positioned when the positioning open command sent；And in the locating closing instruction for receiving controller transmission
When stop the container being positioned；
And/or the posture determining module measures three axis of container when receiving the measurement open command of controller transmission
Attitude angle and acceleration；And when receiving the measurement halt instruction of controller transmission, stop three axis appearances of measurement container
State angle and acceleration.
3. container control system as described in claim 1, which is characterized in that the controller is also used to, can not be from institute
When stating locating module and getting location information, the position that the last time gets from locating module is believed using Kalman filter
Breath carries out fusion treatment with the triaxial attitude angle and acceleration, obtains the location information of container.
4. container control system as described in claim 1, which is characterized in that further include the storage being connect with the controller
Module:
Memory module is used for storage container information；The container information includes at least one of following message: container
Identity information, the goods information of container, the internal environmental information of container, the trace information of container and the mesh of container
Ground information.
5. container control system as described in claim 1, which is characterized in that further include the monitoring being connect with the controller
Module, in which:
Monitoring modular obtains the internal environmental information of container for the internal environment of monitoring containers.
6. the container control system as described in claim 1-5 any one, which is characterized in that further include: power supply module is used to
Property measurement module and power management module, the power supply module, inertia measuring module are connect with the power management module respectively,
The power supply module provides power supply for other modules of the container control system；
Inertia measuring module, for measuring the triaxial attitude angle and acceleration of the container, and by the triaxial attitude angle and
Acceleration is sent to the power management module；
Power management module judges at the container for the triaxial attitude angle and acceleration according to the container received
In stationary state or active state；The power supply module is controlled if remaining static to power according to preset time interval；
The power supply module continued power is controlled if being in active state.
7. the container control system as described in claim 1-5 any one, which is characterized in that further include and the controller
The tag generation module of connection, in which:
Tag generation module, the container information for being sent according to the controller are generated or are updated for identifying the collection
The label of bin information.
8. a kind of container, which is characterized in that including the described in any item container control systems of claim 1-7.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109683536A (en) * | 2018-11-07 | 2019-04-26 | 上海图森未来人工智能科技有限公司 | A kind of container control system and method and container |
| CN111432335A (en) * | 2020-03-31 | 2020-07-17 | 吉林工程技术师范学院 | Control method of international trade port system |
| CN113086852A (en) * | 2021-03-31 | 2021-07-09 | 赤湾集装箱码头有限公司 | Container spreader management system based on Internet of things |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112348428B (en) * | 2020-10-09 | 2023-08-08 | 广州市物联万方电子科技有限公司 | Container monitoring method, device, server and storage medium |
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| CN101634698A (en) * | 2008-07-23 | 2010-01-27 | 中国国际海运集装箱(集团)股份有限公司 | Container and positioning tracker for container |
| CN204833009U (en) * | 2015-06-19 | 2015-12-02 | 武汉理工大学 | Visual monitoring devices of container state intelligence perception |
| CN205825912U (en) * | 2016-07-20 | 2016-12-21 | 北京国泰星云科技有限公司 | A kind of 3D data collecting system for container identification location |
| CN106781271A (en) * | 2016-11-21 | 2017-05-31 | 南京邮电大学 | A kind of Falls in Old People salvage system and method based on acceleration transducer |
| CN108267135A (en) * | 2017-12-25 | 2018-07-10 | 中铁第四勘察设计院集团有限公司 | For the accurate positioning method and system of track automatic measurement vehicle |
| CN108415054A (en) * | 2018-03-09 | 2018-08-17 | 迪比（重庆）智能科技研究院有限公司 | Vehicle positioning system based on intelligent terminal and key |
| CN109683536A (en) * | 2018-11-07 | 2019-04-26 | 上海图森未来人工智能科技有限公司 | A kind of container control system and method and container |
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2019
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109683536A (en) * | 2018-11-07 | 2019-04-26 | 上海图森未来人工智能科技有限公司 | A kind of container control system and method and container |
| CN111432335A (en) * | 2020-03-31 | 2020-07-17 | 吉林工程技术师范学院 | Control method of international trade port system |
| CN111432335B (en) * | 2020-03-31 | 2021-11-23 | 吉林工程技术师范学院 | Control method of international trade port system |
| CN113086852A (en) * | 2021-03-31 | 2021-07-09 | 赤湾集装箱码头有限公司 | Container spreader management system based on Internet of things |
| CN113086852B (en) * | 2021-03-31 | 2024-03-22 | 赤湾集装箱码头有限公司 | Container sling management system based on Internet of things |
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