Tank truck alignment method, device and tank truck

Abstract

The embodiment of the present application provides a tank truck alignment method, device and tank truck, wherein the method comprises: obtaining a rough relative error; aligning the tank truck according to the rough relative error. The implementation of the embodiment of the present application can realize automatic alignment of the tank truck without manual operation, reduce the use of human resources, avoid the problems of high repetitiveness and cumbersome docking in the traditional tank truck alignment process, avoid the staff working in a high-risk environment for a long time, and improve safety performance.

Description

Technical Field

[0001] The present application relates to the technical field of engineering vehicles, and in particular to a tank truck alignment method, device and tank truck. Background Art

[0002] During the transportation of molten iron, the open tank needs to be aligned at the iron mouth of the blast furnace tapping yard to ensure that the molten iron flows into the open tank through the swing chute.

[0003] At present, the aligning of the iron mouth of open tank cars is done by the shunter observing the ground markers and comparing them with the tank car markers. The shunter communicates with the locomotive driver through the intercom to complete the aligning of the iron mouth. The work content of the aligning of open tank cars is highly repetitive, occupies a large number of labor resources, has a poor working environment, and has personal safety risks and occupational hazards. In addition, since the aligning of open tank cars needs to be completed by the locomotive driver and the shunter, the personnel need to get on and off the car for a long time inside the blast furnace and steelmaking, which poses a great safety hazard. Summary of the invention

[0004] The purpose of the embodiments of the present application is to provide a tank truck alignment method, device and tank truck, which can realize automatic alignment of the tank truck without manual operation, reduce the use of human resources, avoid the problems of high repetitiveness and cumbersome docking in the traditional tank truck alignment process, avoid the staff working in high-risk environments for a long time, and improve safety performance.

[0005] In a first aspect, an embodiment of the present application provides a tank truck alignment method, the method comprising:

[0006] Get the rough relative error;

[0007] The tank truck is aligned according to the rough relative error.

[0008] In the above implementation process, the body connection part and the tank truck frame of the tank truck are aligned, so that the tank truck can be automatically aligned without manual operation, reducing the use of human resources, avoiding the problems of high repetitiveness and cumbersome docking in the traditional tank truck alignment process, avoiding the staff from working in a high-risk environment for a long time, and improving safety performance.

[0009] Furthermore, the step of aligning the tank truck according to the rough relative error includes:

[0010] Performing a rough adjustment on the vehicle body connection portion according to the rough relative error;

[0011] Fine adjustments are made to the tank car frame.

[0012] In the above implementation process, the tank truck frame is finely adjusted to make the tank truck alignment more accurate, avoid errors in the alignment process, and avoid repeated alignment.

[0013] Furthermore, the step of roughly adjusting the vehicle body connection part according to the rough relative error includes:

[0014] Obtaining a target distance of the tank truck;

[0015] Determining whether the target distance is less than a preset distance;

[0016] If yes, adjusting the locomotive power of the vehicle body connection portion according to the rough relative error to obtain a target vehicle speed;

[0017] The vehicle body connection portion is roughly adjusted according to the target vehicle speed.

[0018] In the above implementation process, the locomotive power of the car body connection is adjusted according to the target distance between the car body connection and the tank car frame, so that the target vehicle speed can meet the requirements of rough adjustment. Rough adjustment based on the target vehicle speed can avoid docking failure caused by excessive vehicle speed.

[0019] Furthermore, the step of roughly adjusting the vehicle body connection portion according to the target vehicle speed includes:

[0020] Determining whether the target vehicle speed is less than a preset vehicle speed;

[0021] If so, the target distance is adjusted to obtain a comparative speed reduction function;

[0022] If not, adjusting the locomotive power to obtain an adjusted target vehicle speed, and roughly adjusting the vehicle body connection part according to the adjusted target vehicle speed;

[0023] The vehicle body connection portion is roughly adjusted according to the comparative speed reduction function and the target vehicle speed.

[0024] In the above implementation process, when the target vehicle speed reaches the preset vehicle speed, the target distance is adjusted to obtain a comparative deceleration function, and the vehicle body connection is roughly adjusted according to the comparative deceleration function, which can improve the accuracy of the rough adjustment and reduce the error.

[0025] Further, the step of roughly adjusting the vehicle body connection portion according to the comparative speed reduction function and the target vehicle speed includes:

[0026] Determining whether the target vehicle speed is within the region corresponding to the comparative speed reduction function;

[0027] If not, adjusting the locomotive power so that the target vehicle speed is within the region corresponding to the comparative speed reduction function, and roughly adjusting the vehicle body connection part according to the adjusted locomotive power;

[0028] If so, the vehicle body connection is roughly adjusted according to the locomotive power.

[0029] In the above implementation process, when the target vehicle speed is within the area corresponding to the comparative speed reduction function, a rough adjustment of the vehicle body connection can be achieved. When the target vehicle speed is not within the area corresponding to the comparative speed reduction function, the locomotive power is readjusted and then a rough adjustment is performed to ensure that the locomotive power can accurately control the vehicle body connection.

[0030] Furthermore, the step of finely adjusting the tank truck frame comprises:

[0031] Obtaining an initial shift block position of the tank vehicle frame;

[0032] Adjusting the initial shifting block position to obtain a shifting block position;

[0033] The tank car frame is finely adjusted according to the position of the shift block.

[0034] In the above implementation process, after adjusting the initial shift block position, the tank car frame is finely adjusted according to the shift block position, so that the fine adjustment of the tank car frame is guaranteed and rework caused by errors is avoided.

[0035] Furthermore, the step of finely adjusting the tank vehicle frame according to the position of the shift block includes:

[0036] The oil cylinder power of the tank frame is adjusted according to the position of the shift block so that the offset of the tank frame reaches a preset value;

[0037] The power of the oil cylinder is adjusted according to the offset reaching the preset value, so that the position of the tanker frame is moved, thereby achieving fine adjustment of the tanker frame.

[0038] In the above implementation process, the cylinder power is adjusted according to the offset that reaches the preset value, which can more accurately control the cylinder power, reduce the error generated during the fine adjustment process, and make the fine adjustment more accurate.

[0039] In a second aspect, an embodiment of the present application further provides a tank truck alignment device, the device comprising:

[0040] An acquisition module, used for acquiring a rough relative error;

[0041] A positioning module is used to align the tank truck according to the rough relative error.

[0042] In the above implementation process, the body connection part and the tank truck frame of the tank truck are aligned, so that the tank truck can be automatically aligned without manual operation, reducing the use of human resources, avoiding the problems of high repetitiveness and cumbersome docking in the traditional tank truck alignment process, avoiding the staff from working in a high-risk environment for a long time, and improving safety performance.

[0043] In a third aspect, an embodiment of the present application provides a tank truck, comprising the tank truck alignment device as described in the second aspect.

[0044] In a fourth aspect, an embodiment of the present application provides an electronic device, comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the method described in any one of the first aspects when executing the computer program.

[0045] In a fifth aspect, an embodiment of the present application provides a computer-readable storage medium, on which instructions are stored. When the instructions are executed on a computer, the computer executes the method described in any one of the first aspects.

[0046] In a sixth aspect, an embodiment of the present application provides a computer program product, which, when running on a computer, enables the computer to execute the method as described in any one of the first aspects.

[0047] Other features and advantages of the present disclosure will be set forth in the following description, or some features and advantages may be inferred or unambiguously determined from the description, or may be learned by implementing the above-mentioned technology of the present disclosure.

[0048] And it can be implemented according to the contents of the specification. The following is a detailed description of the preferred embodiments of the present application with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments of the present application will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the range values. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying any creative work.

[0050] Figure 1 A schematic diagram of a process flow of a tank truck alignment method provided in an embodiment of the present application;

[0051] Figure 2 A schematic diagram of a rough adjustment process provided in an embodiment of the present application;

[0052] Figure 3 A schematic diagram of a fine-tuning process provided in an embodiment of the present application;

[0053] Figure 4 A schematic diagram of an oil cylinder of a tank truck frame provided in an embodiment of the present application;

[0054] Figure 5 A schematic diagram of offset measurement provided in an embodiment of the present application;

[0055] Figure 6 A schematic diagram of the position of the shift block provided in an embodiment of the present application;

[0056] Figure 7 A schematic diagram of the structural composition of the tank truck alignment device provided in an embodiment of the present application;

[0057] Figure 8 A schematic diagram of the structural composition of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0058] The technical solutions in the embodiments of the present application will be described below in conjunction with the drawings in the embodiments of the present application.

[0059] It should be noted that similar reference numerals and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings. At the same time, in the description of this application, the terms "first", "second", etc. are only used to distinguish the description and cannot be understood as indicating or implying relative importance.

[0060] The specific implementation methods of the present application are further described in detail below in conjunction with the accompanying drawings and examples. The following examples are used to illustrate the present application, but are not used to limit the scope of the present application.

[0061] Embodiment 1

[0062] Figure 1 is a flow chart of the tank truck alignment method provided in the embodiment of the present application, such as Figure 1 As shown, the method includes:

[0063] S1, obtain the rough relative error;

[0064] S2, align the tank truck according to the rough relative error.

[0065] In the above implementation process, the body connection part and the tank truck frame of the tank truck are aligned, so that the tank truck can be automatically aligned without manual operation, reducing the use of human resources, avoiding the problems of high repetitiveness and cumbersome docking in the traditional tank truck alignment process, avoiding the staff from working in a high-risk environment for a long time, and improving safety performance.

[0066] The embodiment of the present application is applicable to an open tank car marshaling alignment system, which includes a blast furnace ironmaking plant, railway tracks, a hydraulic system, a locomotive control system, machine vision, a laser ranging system, a satellite positioning and offset measurement device, etc.

[0067] It can be used for the alignment of open tank marshaling at the iron mouth of blast furnace iron-making yard and the alignment and charging of open tank marshaling at steelmaking transfer station.

[0068] The tank car of the embodiment of the present application is connected by a Jane's hook, and the group tank car and the locomotive are also connected by a Jane's hook. The Jane's hook connection is not a hard connection, and the connection part has random elasticity. In the embodiment of the present application, it can correspond to the alignment of the tank car frame and the car body connection part (including the connection part of the hook).

[0069] Furthermore, S2 includes:

[0070] Make rough adjustments to the vehicle body connection parts according to the rough relative error;

[0071] Make fine adjustments to the tanker frame.

[0072] In the above implementation process, the tank truck frame is finely adjusted after the vehicle body connection is roughly adjusted, so that the tank truck is more accurately aligned, errors are avoided during the alignment process, and repeated alignment is avoided.

[0073] Further, the step of roughly adjusting the vehicle body connection part according to the rough relative error includes:

[0074] Get the target distance of the tanker;

[0075] Determine whether the target distance is less than the preset distance;

[0076] If yes, the locomotive power of the vehicle body connection is adjusted according to the rough relative error to obtain the target vehicle speed;

[0077] Make rough adjustments to the vehicle body connections based on the target vehicle speed.

[0078] In the above implementation process, the locomotive power of the car body connection is adjusted according to the target distance between the car body connection and the tank car frame, so that the target vehicle speed can meet the requirements of rough adjustment. Rough adjustment based on the target vehicle speed can avoid docking failure caused by excessive vehicle speed.

[0079] Optionally, the rough adjustment can be achieved through the locomotive control platform, satellite positioning module, laser ranging, wheel speed meter, locomotive gear (including throttle) and locomotive brake.

[0080] The embodiment of the present application controls the gear and brake of the locomotive through the locomotive power, thereby controlling the vehicle speed, and the gear and brake are nonlinearly controlled. Therefore, after adjusting the locomotive power of the vehicle body connection part, the target vehicle speed can be obtained.

[0081] Furthermore, the step of roughly adjusting the vehicle body connection portion according to the target vehicle speed includes:

[0082] Determine whether the target vehicle speed is less than a preset vehicle speed;

[0083] If so, adjust the target distance to obtain a comparative speed reduction function;

[0084] If not, the locomotive power is adjusted to obtain an adjusted target vehicle speed, and the vehicle body connection is roughly adjusted according to the adjusted target vehicle speed;

[0085] The vehicle body connection is roughly adjusted based on the comparison of the deceleration function and the target vehicle speed.

[0086] In the above implementation process, when the target vehicle speed reaches the preset vehicle speed, the target distance is adjusted to obtain a comparative deceleration function, and the vehicle body connection is roughly adjusted according to the comparative deceleration function, which can improve the accuracy of the rough adjustment and reduce the error.

[0087] like Figure 2 As shown, it is a rough adjustment schematic diagram. Specifically, when the target distance is less than the preset distance, the locomotive is adjusted to the lowest gear, and at the same time, it is determined whether the target speed is less than the preset speed. If not, the locomotive power is controlled to brake the locomotive, and the adjusted target speed is obtained, and then a judgment is made; if so, a comparative speed reduction function is obtained.

[0088] Further, the step of roughly adjusting the vehicle body connection portion according to the comparison of the speed reduction function and the target vehicle speed includes:

[0089] Determine whether the target vehicle speed is within the area corresponding to the comparison speed reduction function;

[0090] If not, the locomotive power is adjusted so that the target vehicle speed is within the region corresponding to the comparative speed reduction function, and the vehicle body connection is roughly adjusted according to the adjusted locomotive power;

[0091] If so, make rough adjustments to the car body connection according to the locomotive power.

[0092] In the above implementation process, when the target vehicle speed is within the area corresponding to the comparative speed reduction function, a rough adjustment of the vehicle body connection can be achieved. When the target vehicle speed is not within the area corresponding to the comparative speed reduction function, the locomotive power is readjusted and then a rough adjustment is performed to ensure that the locomotive power can accurately control the vehicle body connection.

[0093] When the target vehicle speed is not within the area corresponding to the comparative speed reduction function, determine whether the target vehicle speed is less than the value of the area corresponding to the comparative speed reduction function. If it is less than, the locomotive power is controlled to increase, that is, the locomotive gear is controlled to increase, so that the target vehicle speed is within the area corresponding to the comparative speed reduction function. If it is greater than, the locomotive power is controlled to decrease, that is, the locomotive gear is controlled to brake, so that the target vehicle speed is within the area corresponding to the comparative speed reduction function.

[0094] Further, the step of finely adjusting the tank car frame includes:

[0095] Get the initial shift block position of the tank car frame;

[0096] Adjust the initial shift block position to obtain the shift block position;

[0097] Make fine adjustments to the tanker frame according to the position of the shift block.

[0098] In the above implementation process, after adjusting the initial shift block position, the tank car frame is finely adjusted according to the shift block position, so that the fine adjustment of the tank car frame is guaranteed and rework caused by errors is avoided.

[0099] like Figure 3 As shown, it is a schematic diagram of fine adjustment. In the embodiment of the present application, the shift block of the tank truck frame needs to be placed between two hydraulic cylinders to achieve fine adjustment of the tank truck frame. Optionally, a machine vision module can be used to detect the shift block arrow and the offset measuring device.

[0100] After the rough adjustment is completed, the locomotive stops and sends a signal to the ground management system. The machine vision starts to detect the initial shift block position of the tank car and adjusts the initial shift block position until it is confirmed that the shift block is between the cylinders.

[0101] Furthermore, the step of finely adjusting the tank car frame according to the position of the shift block includes:

[0102] The power of the oil cylinder of the tanker frame is adjusted according to the position of the shift block so that the offset of the tanker frame reaches the preset value;

[0103] The power of the oil cylinder is adjusted according to the offset reaching the preset value, so that the position of the tank frame is moved, thereby achieving fine adjustment of the tank frame.

[0104] In the above implementation process, the cylinder power is adjusted according to the offset that reaches the preset value, which can more accurately control the cylinder power, reduce the error generated during the fine adjustment process, and make the fine adjustment more accurate.

[0105] Specifically, determine whether the position of the shift block is within the range of the clamping cylinder. If so, increase the power of the cylinder so that the clamping cylinder is clamped and maintained for a certain period of time. Optionally, the embodiment of the present application is to clamp in place and hold for 1-20 seconds, and release in place and hold for 1-20 seconds. At this time, the offset is obtained. When the error of the offset is less than 5 cm, the power of the cylinder is controlled to lower the position of the cylinder, that is, the position of the tank frame is lowered to complete the alignment.

[0106] like Figure 4 As shown, the lifting power makes the oil cylinder rise to the height of the shift block, and the clamping oil cylinder begins to tighten toward the middle. After the shift block is stressed, the thrust is transmitted to the tank frame. Under the action of the thrust, the tank frame moves to the middle position. Due to inertia, the shift block contacts the oil cylinder at the other end. After the oil cylinders on both sides are tightened, the kinetic energy of the tank frame decreases, and the tightening oil cylinder shrinks to both sides to complete the alignment. 21, 22, 4, and 23 in the figure correspond to the clamping oil cylinder, lifting oil cylinder, shift block, and offset measuring device, respectively.

[0107] The offset is calculated as Figure 5 As shown, optionally, the offset can be calculated by a machine vision module. The arrow below the dial block points to the isosceles triangle on the ground. The offset D is calculated by measuring the height h at the arrow. The positive and negative deviations are distinguished by measuring the angle between the isosceles side and the X-axis.

[0108] like Figure 6 As shown, the middle block of the shift block is installed on the tank car frame of the tank car and is rigidly connected to the tank car. Springs are provided at both ends of the shift block to ensure that after being thrust by the cylinder, the acceleration is controlled within the required range to prevent the molten iron in the open tank from splashing out.

[0109] Embodiment 2

[0110] In order to execute the method corresponding to the above embodiment 1 to achieve the corresponding functions and technical effects, a tank truck alignment device is provided below, such as Figure 7 As shown, the device comprises:

[0111] Acquisition module 1, used for acquiring a rough relative error;

[0112] The alignment module 2 is used to align the tank truck according to the rough relative error.

[0113] In the above implementation process, the body connection part and the tank truck frame of the tank truck are aligned, so that the tank truck can be automatically aligned without manual operation, reducing the use of human resources, avoiding the problems of high repetitiveness and cumbersome docking in the traditional tank truck alignment process, avoiding the staff from working in a high-risk environment for a long time, and improving safety performance.

[0114] Furthermore, the alignment module 2 also includes:

[0115] A coarse adjustment unit, used for coarsely adjusting the vehicle body connection part according to a coarse relative error;

[0116] Fine adjustment unit for fine adjustment of the tank car frame.

[0117] In the above implementation process, the tank truck frame is finely adjusted after the vehicle body connection is roughly adjusted, so that the tank truck is more accurately aligned, errors are avoided during the alignment process, and repeated alignment is avoided.

[0118] Furthermore, the coarse adjustment unit is also used for:

[0119] Get the target distance of the tanker;

[0120] Determine whether the target distance is less than the preset distance;

[0121] If yes, the locomotive power of the vehicle body connection is adjusted according to the rough relative error to obtain the target vehicle speed;

[0122] Make rough adjustments to the vehicle body connections based on the target vehicle speed.

[0123] In the above implementation process, the locomotive power of the car body connection is adjusted according to the target distance between the car body connection and the tank car frame, so that the target vehicle speed can meet the requirements of rough adjustment. Rough adjustment based on the target vehicle speed can avoid docking failure caused by excessive vehicle speed.

[0124] Furthermore, the coarse adjustment unit is also used for:

[0125] Determine whether the target vehicle speed is less than a preset vehicle speed;

[0126] If so, adjust the target distance to obtain a comparative speed reduction function;

[0127] If not, the locomotive power is adjusted to obtain an adjusted target vehicle speed, and the vehicle body connection is roughly adjusted according to the adjusted target vehicle speed;

[0128] The vehicle body connection is roughly adjusted based on the comparison of the deceleration function and the target vehicle speed.

[0129] In the above implementation process, when the target vehicle speed reaches the preset vehicle speed, the target distance is adjusted to obtain a comparative deceleration function, and the vehicle body connection is roughly adjusted according to the comparative deceleration function, which can improve the accuracy of the rough adjustment and reduce the error.

[0130] Furthermore, the coarse adjustment unit is also used for:

[0131] Determine whether the target vehicle speed is within the area corresponding to the comparison speed reduction function;

[0132] If not, the locomotive power is adjusted so that the target vehicle speed is within the region corresponding to the comparative speed reduction function, and the vehicle body connection is roughly adjusted according to the adjusted locomotive power;

[0133] If so, make rough adjustments to the car body connection according to the locomotive power.

[0134] In the above implementation process, when the target vehicle speed is within the area corresponding to the comparative speed reduction function, a rough adjustment of the vehicle body connection can be achieved. When the target vehicle speed is not within the area corresponding to the comparative speed reduction function, the locomotive power is readjusted and then a rough adjustment is performed to ensure that the locomotive power can accurately control the vehicle body connection.

[0135] Furthermore, the fine adjustment unit is also used for:

[0136] Get the initial shift block position of the tank car frame;

[0137] Adjust the initial shift block position to obtain the shift block position;

[0138] Make fine adjustments to the tanker frame according to the position of the shift block.

[0139] In the above implementation process, after adjusting the initial shift block position, the tank car frame is finely adjusted according to the shift block position, so that the fine adjustment of the tank car frame is guaranteed and rework caused by errors is avoided.

[0140] Furthermore, the fine adjustment unit is also used for:

[0141] The power of the oil cylinder of the tanker frame is adjusted according to the position of the shift block so that the offset of the tanker frame reaches the preset value;

[0142] The power of the oil cylinder is adjusted according to the offset reaching the preset value, so that the position of the tank frame is moved, thereby achieving fine adjustment of the tank frame.

[0143] In the above implementation process, the cylinder power is adjusted according to the offset that reaches the preset value, which can more accurately control the cylinder power, reduce the error generated during the fine adjustment process, and make the fine adjustment more accurate.

[0144] The tank truck alignment device described above can implement the method described in the first embodiment described above. The options described in the first embodiment described above are also applicable to this embodiment and will not be described in detail here.

[0145] The rest of the contents of the embodiments of the present application can refer to the contents of the above-mentioned embodiment 1, and will not be repeated in this embodiment.

[0146] Embodiment 3

[0147] An embodiment of the present application provides a tank truck, including the tank truck alignment device of embodiment 2.

[0148] Embodiment 4

[0149] An embodiment of the present application provides an electronic device, including a memory and a processor, wherein the memory is used to store a computer program, and the processor runs the computer program to enable the electronic device to execute the tank truck alignment method of embodiment one.

[0150] Optionally, the above-mentioned electronic device may be a server.

[0151] See also Figure 8 , Figure 8 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. The electronic device may include a processor 81, a communication interface 82, a memory 83, and at least one communication bus 84. The communication bus 84 is used to realize direct connection and communication between these components. The communication interface 82 of the device in the embodiment of the present application is used to communicate signaling or data with other node devices. The processor 81 may be an integrated circuit chip with signal processing capabilities.

[0152] The processor 861 mentioned above can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components. It can implement or execute the various methods, steps and logic block diagrams disclosed in the embodiments of the present application. The general-purpose processor can be a microprocessor or the processor 81 can also be any conventional processor, etc.

[0153] The memory 83 may be, but is not limited to, a random access memory (RAM), a read only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electric erasable programmable read-only memory (EEPROM), etc. The memory 83 stores computer readable instructions. When the computer readable instructions are executed by the processor 81, the device can execute the above-mentioned Figure 1 The method embodiment involves various steps.

[0154] Optionally, the electronic device may further include a storage controller and an input / output unit. The memory 83, the storage controller, the processor 81, the peripheral interface, and the input / output unit are electrically connected to each other directly or indirectly to achieve data transmission or interaction. For example, these components may be electrically connected to each other via one or more communication buses 84. The processor 81 is used to execute executable modules stored in the memory 83, such as software function modules or computer programs included in the device.

[0155] The input and output unit is used to provide users with the task creation and to create an optional time period or preset execution time for the task to enable interaction between the user and the server. The input and output unit can be, but is not limited to, a mouse and a keyboard.

[0156] Understandably, Figure 8 The structure shown is for illustration only. The electronic device may also include Figure 8 More or fewer components as shown, or with Figure 8 Different configurations are shown. Figure 8 Each component shown in the figure can be implemented by hardware, software or a combination thereof.

[0157] In addition, an embodiment of the present application further provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the tank truck alignment method of embodiment one.

[0158] The embodiment of the present application also provides a computer program product, which, when running on a computer, enables the computer to execute the method described in the method embodiment.

[0159] In several embodiments provided in the present application, it should be understood that the disclosed devices and methods can also be implemented in other ways. The device embodiments described above are merely schematic. For example, the flowcharts and block diagrams in the accompanying drawings show the possible architecture, functions and operations of the devices, methods and computer program products according to multiple embodiments of the present application. In this regard, each box in the flowchart or block diagram can represent a module, a program segment or a part of a code, and the module, a program segment or a part of a code contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or the flowchart, and the combination of boxes in the block diagram and / or the flowchart, can be implemented with a dedicated hardware-based device that performs a specified function or action, or can be implemented with a combination of dedicated hardware and computer instructions.

[0160] In addition, the functional modules in the various embodiments of the present application may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.

[0161] If the functions are implemented in the form of software function modules and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application can be essentially or partly embodied in the form of a software product that contributes to the prior art. The computer software product is stored in a storage medium and includes several instructions for a computer device (which can be a personal computer, server, or network device, etc.) to perform all or part of the steps of the methods described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as USB flash drives, mobile hard drives, ROM, RAM, magnetic disks, or optical disks.

[0162] The above description is only an embodiment of the present application and is not intended to limit the protection scope of the present application. For those skilled in the art, the present application may have various changes and variations. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application should be included in the protection scope of the present application. It should be noted that similar numbers and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further defined and explained in the subsequent drawings.

[0163] The above is only a specific implementation of the present application, but the protection range of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical range disclosed in the present application, which should be included in the protection range of the present application. Therefore, the protection range of the present application should be based on the protection range of the claims.

[0164] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

Claims

1. A tank truck alignment method, characterized in that: The method comprises: Get the rough relative error; Aligning the tank truck according to the rough relative error; The step of aligning the tank truck according to the rough relative error comprises: Performing a rough adjustment on the vehicle body connection portion according to the rough relative error; Finely adjusting the tank car frame; The step of roughly adjusting the vehicle body connection portion according to the rough relative error comprises: Obtaining a target distance of the tank truck; Determining whether the target distance is less than a preset distance; If yes, adjusting the locomotive power of the vehicle body connection portion according to the rough relative error to obtain a target vehicle speed; performing a rough adjustment on the vehicle body connection portion according to the target vehicle speed; The step of roughly adjusting the vehicle body connection portion according to the target vehicle speed comprises: Determining whether the target vehicle speed is less than a preset vehicle speed; If so, the target distance is adjusted to obtain a comparative speed reduction function; If not, adjusting the locomotive power to obtain an adjusted target vehicle speed, and roughly adjusting the vehicle body connection part according to the adjusted target vehicle speed; Roughly adjusting the vehicle body connection portion according to the comparative speed reduction function and the target vehicle speed; The step of roughly adjusting the vehicle body connection portion according to the comparative speed reduction function and the target vehicle speed comprises: Determining whether the target vehicle speed is within the region corresponding to the comparative speed reduction function; If not, adjusting the locomotive power so that the target vehicle speed is within the region corresponding to the comparative speed reduction function, and roughly adjusting the vehicle body connection part according to the adjusted locomotive power; If so, roughly adjusting the vehicle body connection portion according to the locomotive power; The step of finely adjusting the tank truck frame comprises: Obtaining an initial shift block position of the tank vehicle frame; Adjusting the initial shifting block position to obtain a shifting block position; Finely adjust the tank car frame according to the position of the shift block; The step of finely adjusting the tank vehicle frame according to the position of the shift block comprises: The oil cylinder power of the tank frame is adjusted according to the position of the shift block so that the offset of the tank frame reaches a preset value; The power of the oil cylinder is adjusted according to the offset reaching the preset value, so that the position of the tanker frame is moved, thereby achieving fine adjustment of the tanker frame.

2. A tank truck alignment device, characterized in that: The device comprises: An acquisition module, used for acquiring a rough relative error; An alignment module, used for aligning the tank truck according to the rough relative error; The alignment module is also used for: Performing a rough adjustment on the vehicle body connection portion according to the rough relative error; Finely adjusting the tank car frame; Obtaining a target distance of the tank truck; Determining whether the target distance is less than a preset distance; If yes, adjusting the locomotive power of the vehicle body connection portion according to the rough relative error to obtain a target vehicle speed; performing a rough adjustment on the vehicle body connection portion according to the target vehicle speed; Determining whether the target vehicle speed is less than a preset vehicle speed; If so, the target distance is adjusted to obtain a comparative speed reduction function; If not, adjusting the locomotive power to obtain an adjusted target vehicle speed, and roughly adjusting the vehicle body connection part according to the adjusted target vehicle speed; Roughly adjusting the vehicle body connection portion according to the comparative speed reduction function and the target vehicle speed; Determining whether the target vehicle speed is within the region corresponding to the comparative speed reduction function; If not, adjusting the locomotive power so that the target vehicle speed is within the region corresponding to the comparative speed reduction function, and roughly adjusting the vehicle body connection part according to the adjusted locomotive power; If so, roughly adjusting the vehicle body connection portion according to the locomotive power; Obtaining an initial shift block position of the tank vehicle frame; Adjusting the initial shifting block position to obtain a shifting block position; Finely adjust the tank car frame according to the position of the shift block; The oil cylinder power of the tank frame is adjusted according to the position of the shift block so that the offset of the tank frame reaches a preset value; The power of the oil cylinder is adjusted according to the offset reaching the preset value, so that the position of the tanker frame is moved, thereby achieving fine adjustment of the tanker frame.

3. A tank truck, characterized in that: The tank truck comprises the tank truck alignment device as claimed in claim 2.

4. An electronic device, characterized in that: It comprises a memory and a processor, wherein the memory is used to store a computer program, and the processor runs the computer program to enable the electronic device to execute the tank truck alignment method according to claim 1.

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