Turnback roll-off car parameter acquisition system and working method

Abstract

The application discloses a kind of utilization perception technology obtains the turn-back type dumper unloading system and working method of open car parameter, work in parallel arrangement heavy car line A and empty car line B, the system includes: in heavy car line A according to the direction of car entering respectively arranged OCR system, laser imaging radar device, wheel clamp, heavy car shunting machine, dumper, heavy car line stopper and migration car platform, in empty car line B according to the direction of car, empty car shunting machine, empty car line stopper and empty car line anti-slip device, the system utilizes the perception technology of OCR technology and laser radar scanning imaging technology fusion, obtains the length, width and height etc. Parameters of open car to be turned over and unloaded in advance, to accurately control the operation of single machine equipment, ensure equipment operation stability, improve dumper system operation efficiency.

Description

Technical Field

[0001] This invention relates to the field of tippler unloading system control, and more particularly to a reversing tippler unloading system and its operating method that utilizes sensing technology to acquire open wagon parameters. Background Technology

[0002] Optical Character Recognition (OCR) is a technology that analyzes and recognizes textual information from image files containing text, and is an important component of artificial intelligence within the field of computer vision. With the rapid development of computer technology in recent years, OCR technology has made leaps and bounds in recognition speed and accuracy, leading to its increasingly wide range of applications.

[0003] LiDAR is a product of the combination of traditional radar technology and laser technology. Compared with microwave radar, it has extremely strong anti-jamming capabilities, high-resolution range detection, extremely high angular resolution, extremely high velocity resolution, and can obtain a variety of image information of the target. It is also small in size and lightweight. Laser scanning imaging radar is one type of it. With the development of technology, its applications have expanded from military to civilian fields, and in recent years, it has been widely used in intelligent industrial scenarios.

[0004] A tippler unloading system is a highly specialized bulk material unloading system that can unload bulk materials loaded on existing railway open wagons. The system generally consists of individual units such as tipplers, loaded shunting locomotives, empty shunting locomotives, transfer platforms, and wheel clamps.

[0005] Currently, conventional turnaround tippler unloading systems are designed and operated based on the limit dimensions of open wagon formations arriving from the railway. Radio frequency identification (RFID) technology is used to identify open wagon numbers. This technology uses ground-based AEI (Air-Aspect Identification) equipment to read the tags on the bottom of the open wagons, thereby obtaining their technical parameters. In practical applications, due to the harsh operating environment of open wagons, tags are prone to loss, contamination, and damage, resulting in low accuracy for ground-based AEI equipment in reading the tags. Currently, this function is limited to collecting open wagon information and obtaining information about incoming railway materials, but it is not involved in the operation and control of the tippler system. Summary of the Invention

[0006] To address the problems existing in the prior art, this invention discloses a reversible tippler unloading system that utilizes sensing technology to acquire open wagon parameters. By employing a sensing technology that integrates OCR and lidar scanning imaging technologies, the system acquires the open wagon parameters and incorporates them into the operation control of the tippler system. The specific system solution includes:

[0007] Operating on parallel loaded and unloaded car lines, including: on the loaded car line, an OCR system, laser imaging radar device, wheel clamp, loaded car shunting machine, tipper, loaded car line stopper and transfer platform are installed according to the direction of arrival; on the unloaded car line, an unloaded car shunting machine, unloaded car line stopper and unloaded car line anti-slip device are installed according to the direction of departure.

[0008] The OCR system includes an image reading device, a self-built database, and an analysis module. The image reading device is installed on both sides of the wheel clamp parallel to the railway track to acquire image information of open wagons. The self-built database stores the dimensions and various parameters of various open wagon models. The analysis module receives the image information transmitted by the image reading device, extracts the text information of the open wagon model, verifies it with the parameters in the self-built database, and transmits the length, width, and height parameters of the corresponding open wagons to the tippler system PLC to accurately control the unloading process.

[0009] The laser imaging radar device includes a trolley track, a radar trolley, and a laser radar system. The trolley track is installed next to the wheel clamp in the tipper system and is set parallel to the railway track. The radar trolley, as the carrier of the laser radar system, moves back and forth on the trolley track. The laser radar system achieves a complete scan of the open wagon by moving the radar trolley. By calculating the laser flight time, the distance information of all pixels is obtained, and combined with the relative position information between the radar and the open wagon, three-dimensional imaging data of the open wagon is obtained. The three-dimensional imaging data of the open wagon is analyzed to obtain an image of the open wagon, and the size parameters of the open wagon are obtained from the image. The length, width, and height information of the open wagon are then output.

[0010] The wheel clamp clamps the first pair of heavy cars to be unloaded, preventing the train from slipping.

[0011] The heavy-duty shunting locomotive is used to pull heavy cars into the tippler and push empty cars out of the tippler onto the transfer platform.

[0012] The tipper is used to unload materials from open wagons.

[0013] The transfer station is used to move empty cars from the loaded car line to the empty car line.

[0014] The empty car shunting machine is used to push empty cars out of the transfer platform, connect them with empty cars, and then push them to the empty car line anti-runaway device.

[0015] The anti-runaway device on the empty car line is used to clamp the wheelset of the first empty car to prevent the empty car train from running away.

[0016] The loaded vehicle line stop and the transfer platform are interlocked. When the transfer platform is on the loaded vehicle line, the loaded vehicle line stop is lowered, allowing open vehicles to pass. When the transfer platform leaves the loaded vehicle line, the loaded vehicle line stop is raised.

[0017] The empty car line stop and the transfer platform are interlocked. When the transfer platform is on the empty car line, the empty car line stop drops, allowing open cars to pass. When the transfer platform leaves the empty car line, the empty car line stop rises.

[0018] A method for operating a reversing tippler unloading system that utilizes sensing technology to acquire parameters of open wagons includes:

[0019] While the loaded wagon is waiting, the tippler system PLC obtains accurate length, width, and height parameters of the open wagon through the OCR system and laser imaging radar device. The empty wagon from the previous cycle is unloaded inside the tippler and the empty wagon stops at the anti-slip device on the empty wagon line.

[0020] After the shunting locomotive reverses and engages the car coupler, it pulls the car train to be unloaded forward. When the car reaches the wheel clamp, it stops, disconnects the coupler between the car and the car, and continues to pull the car into the tippler for positioning. The empty cars that have been unloaded are pushed out of the tippler, pass through the car line stop to the car transfer platform, and automatically disconnect the coupler between the shunting locomotive and the empty cars. After reversing a safe distance and stopping, the boom is raised and returned to its original position, the boom is lowered, and the next cycle begins.

[0021] After confirming that the loaded car has left the shunting machine, the tippler performs the pressing and siding actions, pressing and siding the open car, and then flipping it to the specified angle before returning to 0 degrees. The siding and pressing actions then return to their original positions, waiting for the next cycle.

[0022] After the loaded shunting locomotive pushes in the empty car and leaves, the car transfer platform moves horizontally from the loaded car line to the empty car line, aligns and stops, and waits for the empty car shunting locomotive to push the empty car out of the car transfer platform.

[0023] After the car transfer platform is aligned and stopped at the empty car line, the empty car shunting locomotive operates, pushes the empty car off the transfer platform and couples it with the empty car on the empty car line, pushes the empty car to the anti-runaway device on the empty car line, automatically disconnects the empty car shunting locomotive from the empty car coupler, and returns to its original position to wait for the next cycle.

[0024] After the empty car shunting locomotive pushes the empty car out of the transfer platform, the transfer platform moves from the empty car line to the loaded car line, aligns and stops to wait for the next cycle.

[0025] By adopting the above technical solution, the present invention provides a reversible tippler unloading system and method that uses sensing technology to obtain open wagon parameters. The system uses sensing technology that combines OCR technology and lidar scanning imaging technology to obtain parameters such as the length, width and height of the open wagon to be tipped in advance, so as to accurately control the operation of individual equipment, ensure the stability of equipment operation and improve the operating efficiency of the tippler system. Attached Figure Description

[0026] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0027] Figure 1 This is a structural block diagram of the system of the present invention.

[0028] Figure 2 This is a flowchart of the system of the present invention. Detailed Implementation

[0029] To make the technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention:

[0030] like Figure 1 The diagram illustrates a reversing tippler unloading system that utilizes sensing technology to acquire parameters of open wagons. The system operates on parallel loaded wagon track A and empty wagon track B. On loaded wagon track A, according to the direction of arrival, an OCR system 1, a laser imaging radar device 2, a wheel clamp 3, a loaded wagon shunting machine 4, a tippler 5, a loaded wagon track stop 6, and a wagon transfer platform 7 are arranged. On empty wagon track B, according to the direction of departure, an empty wagon shunting machine 8, an empty wagon track stop 9, and an empty wagon track anti-slip device 10 are arranged.

[0031] The OCR system 1 includes image reading devices, an analysis module, and a self-built database system. The image reading devices are installed on both sides of the wheel clamp 3, parallel to the railway track. They are used to take pictures of open wagons. The self-built database stores the dimensions and parameters of various open wagon models. The analysis module analyzes and extracts the wagon model text information, compares this information with the parameters in the self-built database, and transmits the corresponding wagon length, width, height, and other parameters to the tipper system PLC for precise control of the unloading process.

[0032] The laser imaging radar device 2 includes a radar trolley, a trolley track, and a laser radar system. The trolley track is installed next to the wheel clamp 3 in the tipper system, parallel to the railway track. The radar trolley is the carrier of the laser radar system and can move back and forth on the track. The laser radar system consists of a laser emitting unit, a scanning unit, a receiving antenna, a photodetector, a magnification and shaping system, and a three-dimensional imaging system. Its imaging principle is that the laser radar device achieves a complete scan of the open wagon by moving the radar trolley. During scanning, the distance information of all pixels is obtained by calculating the laser flight time. Combined with the relative position information of the radar and the open wagon, three-dimensional imaging data information about the open wagon can be obtained. The analysis module analyzes the three-dimensional imaging data information to obtain an accurate imaging image, and derives the size parameters of the open wagon based on the imaging image, outputting the length, width, and height of the open wagon.

[0033] After analyzing the output parameters of OCR system 1 and laser imaging radar device 2, the system analyzes and compares them, and then outputs the final specific parameters such as the length, width and height of the open wagon to the system PLC.

[0034] Currently, in tippler unloading systems, the operation of individual units such as tipplers, loaded shunting locomotives, and empty shunting locomotives is based on the maximum length, width, and height of the open wagons, which significantly impacts system efficiency. This invention aims to obtain parameters such as the length, width, and height of the open wagons to be tipped in advance through a sensing technology that integrates OCR and lidar scanning imaging techniques. This allows for precise control of individual units, ensuring equipment stability and improving the overall efficiency of the tippler system.

[0035] Conventional tippler systems use mixed trains of dozens to hundreds of cars, with lengths ranging from 11938 to 13976 mm, heights from 2993 to 3793 mm, and widths from 3100 to 3243 mm. During system operation, they operate according to the maximum dimensions of open wagons. The tippler system PLC of this invention acquires accurate length, width, and height parameters of the open wagons through an OCR system 1 and a laser imaging radar device 2 for precise control of the following operational processes, such as... Figure 2 As shown, the specific steps include the following:

[0036] S1: The tipper 5 performs the actions of pressing down on and approaching the vehicle.

[0037] 1) In conventional tipper systems, the lifting height of the weighing arm is designed based on the maximum height of the wagon train (3793mm) plus a safety distance. For other open wagons with lower heights, the lifting arm's movement time is long. This invention, after knowing the actual height of the wagon C2 to be tipped in advance, controls the lifting height of the weighing arm according to the actual height of the open wagon plus a safety distance upon completion of the previous cycle. This reduces the running time of the weighing arm's descent and weighing action.

[0038] 2) In a conventional system, the tipper 5 is positioned relative to the car, designed according to the maximum width of the car train (3243mm) plus a safety distance. For other narrower open wagons, the tipper's contact time is long. This invention, after knowing the actual width of the wagon C2 to be tipped in advance, controls the tipper's contact position according to the actual width of the open wagon plus a safety distance upon completion of the previous cycle. This reduces the tipper's contact time.

[0039] S2: Shunting locomotive 4 in operation

[0040] 1) The shunting locomotive 4 pulls the loaded car C2 through the wheel clamp 3 and onto the wheel clamp 3. In conventional systems, the deceleration position is designed based on the shortest length of the open wagon (11938mm). For longer open wagons, the shunting locomotive 4 operates at low speed for a considerable time to pull the loaded car C3 onto the wheel clamp 3. This invention, by knowing the length of the open wagon in advance, can decelerate according to the actual length of the open wagon during operation, reducing the low-speed operation time of the shunting locomotive and improving operational efficiency.

[0041] 2) The shunting locomotive 4 is used to couple empty wagon C1 to the tippler. In conventional systems, the deceleration position is designed based on the maximum length of the open wagon (13976mm). For shorter open wagons, the shunting locomotive 4 requires a longer low-speed operation time to couple the empty wagon C1. This invention, by knowing the open wagon length in advance, can decelerate according to the actual length of the open wagon during operation, reducing the low-speed operation time of the shunting locomotive and improving operational efficiency.

[0042] S3: Empty shunting machine 7 is running in the turnaround system.

[0043] 1) Coupling empty car C1 on wagon transfer platform 6. In conventional system operation, the deceleration position is designed based on the longest length of the open wagon (13976mm). For shorter open wagons, the empty wagon shunting locomotive 7 operates at low speed for a considerable time before coupling the empty wagon C1. This invention, by knowing the open wagon length in advance, can decelerate according to the actual length of the open wagon during operation, reducing the low-speed operation time of the empty wagon shunting locomotive and improving operational efficiency.

[0044] 2) Pushing empty car C1 to be coupled to empty car train C0 on empty car line B. In conventional system operation, the deceleration position is designed based on the longest length of the train (13976mm). For shorter open wagons, the empty car shunting locomotive 7 requires a longer low-speed operation time to push empty car C1 to be coupled to empty car train C0. This invention, by knowing the length of the open wagon in advance, can decelerate according to the actual length of the open wagon during operation, reducing the low-speed operation time of the empty car shunting locomotive and improving operational efficiency.

[0045] By implementing the aforementioned precise control procedures, the operating efficiency of the tippler system is improved, thus giving the system precise and efficient technical characteristics.

[0046] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A reversing tippler unloading system that utilizes sensing technology to acquire parameters of open wagons, operating on parallel loaded wagon lines (A) and empty wagon lines (B), characterized in that... include: On the loaded car track (A), an OCR system (1), a laser imaging radar device (2), a wheel clamp (3), a loaded car shunting machine (4), a tipper (5), a loaded car track stopper (6), and a car transfer platform (7) are installed in the direction of arrival; on the empty car track (B), an empty car shunting machine (8), an empty car track stopper (9), and an empty car track anti-runaway device (10) are installed in the direction of departure. The OCR system (1) includes an image reading device, a self-built database, and an analysis module. The image reading device is installed on both sides of the wheel clamp (3) parallel to the railway track and is used to acquire image information of open wagons. The self-built database stores the dimensions and various parameter information of various open wagon models. The analysis module receives the image information transmitted by the image reading device, extracts the text information of the open wagon model and checks it against the parameters in the self-built database, and transmits the length, width, and height parameter information of the corresponding open wagon to the tippler system PLC to accurately control the unloading process. The laser imaging radar device (2) includes a trolley track, a radar trolley, and a laser radar system. The trolley track is installed next to the wheel clamp (3) in the tipper system and is set parallel to the railway track. The radar trolley is the carrier of the laser radar system and moves back and forth on the trolley track. The laser radar system realizes a complete scan of the open wagon by moving the radar trolley. The distance information of all pixels is obtained by calculating the laser flight time, and the three-dimensional imaging data of the open wagon is obtained by combining the relative position information of the radar and the open wagon. The three-dimensional imaging data of the open wagon is analyzed to obtain the imaging image of the open wagon, and the size parameters of the open wagon are obtained according to the imaging image. The length, width and height information of the open wagon are output. The empty car shunting machine (8) is used to push the empty car out of the transfer platform (7) and connect it with the empty car to the empty car line anti-runaway device (10). The empty car line anti-runaway device (10) is used to clamp the first empty car wheel pair to prevent the empty car train from running away.

2. The reversing tippler unloading system for acquiring open wagon parameters using sensing technology according to claim 1, characterized in that: The wheel clamp (3) clamps the first pair of heavy cars to be unloaded to prevent the heavy car train from slipping.

3. The unloading system of a turnaround tippler that uses sensing technology to acquire parameters of open wagons according to claim 1, characterized in that: The heavy car shunting machine (4) is used to pull heavy cars into the tippler (5) and push empty cars out of the tippler (5) onto the transfer platform (7).

4. A reversing tippler unloading system for acquiring open wagon parameters using sensing technology according to claim 1, characterized in that: The tipper (5) is used to unload materials from open wagons.

5. A reversing tippler unloading system for acquiring open wagon parameters using sensing technology according to claim 1, characterized in that: The transfer station (7) is used to transfer empty cars from loaded car line (A) to empty car line (B).

6. A reversing tippler unloading system for acquiring open wagon parameters using sensing technology according to claim 1, characterized in that: The heavy vehicle line stop (6) and the transfer platform (7) are interlocked. When the transfer platform (7) is on the heavy vehicle line (A), the heavy vehicle line stop (6) is lowered, and the open vehicle passes through. When the transfer platform (7) leaves the heavy vehicle line (A), the heavy vehicle line stop (6) is raised.

7. A reversing tippler unloading system for acquiring open wagon parameters using sensing technology according to claim 1, characterized in that: The empty car line stop (9) and the transfer platform (7) are interlocked. When the transfer platform (7) is on the empty car line (B), the empty car line stop (9) is lowered and the open car passes through. When the transfer platform (7) leaves the empty car line (B), the empty car line stop (9) is raised.

8. A working method for a reversing tippler unloading system that utilizes sensing technology to acquire open wagon parameters as described in claim 1, characterized in that... include: While the loaded car C2 is waiting, the tipper system PLC obtains accurate length, width and height parameters of the open car through the OCR system (1) and the laser imaging radar device (2). The empty car C1 of the previous cycle is unloaded in the tipper (5), and the empty car C1 stops at the empty car line (B) and the empty car line anti-slip device (10). After the shunting locomotive (4) reverses and couples the heavy car C2, it pulls the train of heavy cars to be unloaded forward. When the heavy car C3 reaches the wheel clamp (3), it stops, disconnects the coupler between the heavy car C2 and the heavy car C3, and continues to pull the heavy car C2 into the tippler (5) for positioning. It then pushes the empty car C1, which has been unloaded in the tippler (5), out of the tippler (5), and through the heavy car line stopper (6) to the transfer platform (7). It automatically disconnects the coupler between the shunting locomotive (4) and the empty car C1, reverses a safe distance and stops, raises the boom and returns to its original position, lowers the boom, and waits for the next cycle. After the shunting machine (4) leaves the loaded car, the tipper (5) performs the pressing and approaching actions, pressing and approaching the open car, and flipping it to the specified angle before returning to 0 degrees. The approaching and pressing actions then return to the previous cycle. After the loaded shunting locomotive (4) pushes in the empty car C1 and leaves, the car transfer platform (7) moves from the loaded car line (A) to the empty car line (B) for alignment and stops, and then waits for the empty car shunting locomotive (8) to push the empty car C1 out of the car transfer platform. After the car transfer platform (7) is aligned and stopped at the empty car line (B), the empty car shunting machine runs, pushes the empty car C1 on the car transfer platform (7) out of the car transfer platform (7) and connects it with the empty car C0 on the empty car line (B). Then, the empty car C1 is pushed to the anti-runaway device (10) on the empty car line, and the empty car shunting machine (8) is automatically disconnected from the coupler of the empty car C1. After completion, it returns to its original position and waits for the next cycle. After the empty car shunting machine (8) pushes the empty car C1 out of the transfer platform (7), the transfer platform (7) moves from the empty car line (B) to the loaded car line (A), aligns and stops to wait for the next cycle.

Images