Method for controlling vehicle loading and cargo loading control system

Abstract

The invention provides a method for controlling loading of a vehicle and a cargo loading control system. The method comprises the steps that when a to-be-loaded vehicle drives into a loading sub-area corresponding to a target material grabbing mechanism in a loading area, label information carried by a label module on the vehicle and coordinate information of a preset point position on the vehicle are obtained, and a plurality of different material grabbing mechanisms are arranged in the loading area; each material grabbing mechanism corresponds to different loading sub-areas; feature information of the vehicle is determined according to the label information, and feature information of the target material grabbing mechanism is determined according to the coordinate information; according to the feature information of the vehicle and the feature information of the target material grabbing mechanism, a loading control strategy corresponding to the target material grabbing mechanism is determined; and the target material grabbing mechanism is controlled to load the vehicle according to the loading control strategy. The accurate loading strategy is formulated for each to-be-loaded vehicle, the accuracy of loading control operation can be improved, and the loading efficiency of the vehicles can be remarkably improved.

Description

Technical Field

[0001] The present application relates to the field of logistics management, and in particular to a method for controlling vehicle loading and a cargo loading control system. Background Art

[0002] Bulk cargo vehicles refer to vehicles used to transport bulk cargo that has not been packaged or has been simply packaged. Bulk cargo can include coal, ore, grain, fertilizer, cement, etc.

[0003] Traditional bulk cargo vehicles usually rely on manual operation or semi-automatic control technology when loading cargo through a material grabbing mechanism (the material grabbing mechanism grabs the material and places it in the bulk cargo vehicle), which has problems such as low efficiency and poor control accuracy. Therefore, how to improve the loading efficiency and control accuracy during bulk cargo loading has become a problem that needs to be solved urgently. Summary of the invention

[0004] The present application provides a method for controlling vehicle loading and a cargo loading control system, which can not only improve the accuracy of loading control operations but also significantly improve the loading efficiency of vehicles by formulating accurate loading control strategies for each vehicle to be loaded.

[0005] In a first aspect, the present application provides a method for controlling vehicle loading, which is applied to a cargo loading control system, and the method comprises:

[0006] When a vehicle to be loaded enters a loading sub-area corresponding to a target material grabbing mechanism in a loading area, label information carried by a label module on the vehicle and coordinate information of a preset point on the vehicle are obtained, wherein a plurality of different material grabbing mechanisms are arranged in the loading area, and each of the material grabbing mechanisms corresponds to a different loading sub-area;

[0007] Determine characteristic information of the vehicle according to the tag information, and determine characteristic information of the target material grabbing mechanism according to the coordinate information;

[0008] Determining a loading control strategy corresponding to the target material grabbing mechanism according to the characteristic information of the vehicle and the characteristic information of the target material grabbing mechanism;

[0009] According to the loading control strategy, the target material grabbing mechanism is controlled to load the vehicle.

[0010] Optionally, determining the characteristic information of the vehicle according to the tag information includes:

[0011] Determining the identity of the vehicle according to the tag information;

[0012] The characteristic information matching the identity identifier in the first preset database is determined as the characteristic information of the vehicle.

[0013] Optionally, determining characteristic information of the target material grabbing mechanism according to the coordinate information includes:

[0014] Determine the position information of the target material grabbing mechanism according to the coordinate information;

[0015] The characteristic information matching the position information in the second preset database is determined as the characteristic information of the target material grabbing mechanism.

[0016] Optionally, the preset points include a first point located at the head of the vehicle compartment and a second point located at the rear of the vehicle compartment. After determining the characteristic information of the target material grabbing mechanism according to the coordinate information, the method further includes:

[0017] Determining the current length of the vehicle compartment according to the coordinate information of the first point and the coordinate information of the second point;

[0018] The step of determining a loading control strategy corresponding to the target material grabbing mechanism according to the characteristic information of the vehicle and the characteristic information of the target material grabbing mechanism comprises:

[0019] The loading control strategy corresponding to the vehicle is determined according to the characteristic information of the vehicle, the characteristic information of the target material grabbing mechanism and the current length of the vehicle compartment.

[0020] Optionally, a target detection point is provided on the opposite side of the target material grabbing mechanism, and the target detection point is used to detect the coordinate information at the preset point. After acquiring the label information carried by the label module on the vehicle and the coordinate information at the preset point on the vehicle, the method further includes:

[0021] Obtaining the distance between the target detection point and the vehicle;

[0022] Determining a loading control strategy corresponding to the target material grabbing mechanism according to the characteristic information of the vehicle and the characteristic information of the target material grabbing mechanism includes:

[0023] Determining whether the vehicle is a legal vehicle according to the current length of the carriage and the distance;

[0024] If the vehicle is a legal vehicle, a loading control strategy corresponding to the target material grabbing mechanism is determined according to the characteristic information of the vehicle and the characteristic information of the target material grabbing mechanism.

[0025] Optionally, the length of the current carriage

[0026] The method further comprises: determining whether the vehicle is a legal vehicle based on the speed and the distance, including:

[0027] If the length of the vehicle compartment is not less than a preset length threshold, and the distance is not less than a preset distance threshold, the vehicle is determined to be a legal vehicle.

[0028] Optionally, the control strategy includes at least the number of times the target material grabbing mechanism grabs materials, the position of the target material grabbing mechanism relative to the vehicle compartment during each grabbing, and the type of materials that the target material grabbing mechanism needs to grab; and controlling the target material grabbing mechanism to load the vehicle according to the loading control strategy includes:

[0029] According to the number of material grabbing times and the position of the target material grabbing mechanism relative to the vehicle compartment during each material grabbing, controlling the vehicle to adjust to a standard material grabbing position;

[0030] After the vehicle is adjusted to the standard material grabbing position, the target material grabbing mechanism is controlled to grab the material that meets the type of the material and place it in the compartment of the vehicle.

[0031] In a second aspect, the present application provides a cargo loading control system, comprising:

[0032] A wireless radio frequency identification reader / writer, used to obtain the tag information carried by the tag module on the vehicle when the vehicle to be loaded enters the loading sub-area corresponding to the target material grabbing mechanism in the loading area, wherein a plurality of different material grabbing mechanisms are arranged in the loading area, and each of the material grabbing mechanisms corresponds to a different loading sub-area;

[0033] A laser scanner, used to obtain coordinate information of a preset point on the vehicle;

[0034] The server is used to determine the characteristic information of the vehicle according to the tag information, determine the characteristic information of the target material grabbing mechanism according to the coordinate information, and determine the loading control strategy corresponding to the target material grabbing mechanism according to the characteristic information of the vehicle and the characteristic information of the target material grabbing mechanism;

[0035] A programmable logic controller is used to control the target material grabbing mechanism to load the vehicle according to the loading control strategy.

[0036] Optionally, the cargo loading control system further includes:

[0037] A signal display light is communicatively connected to the programmable logic controller, the signal display light is used to receive a first control instruction sent by the programmable logic controller according to the loading control strategy, and in response to the first control instruction, displays a light signal matching the first control instruction, and the light signal is used to guide the vehicle to move to a standard material grabbing position.

[0038] Optionally, the cargo loading control system further includes:

[0039] An information display screen is connected to the server for communication, and is used to receive a second control instruction sent by the server and display the current status information of the vehicle in response to the second control instruction.

[0040] The present application provides a method for controlling vehicle loading, in which, when a vehicle to be loaded enters a loading sub-area corresponding to a target material grabbing mechanism in a loading area, the label information carried by the label module on the vehicle and the coordinate information at a preset point on the vehicle are obtained, and then, the characteristic information of the vehicle is determined according to the label information, and the characteristic information of the target material grabbing mechanism is determined according to the coordinate information; then, according to the characteristic information of the vehicle and the characteristic information of the target material grabbing mechanism, the loading control strategy corresponding to the target material grabbing mechanism is determined; finally, according to the loading control strategy, the target material grabbing mechanism is controlled to load the vehicle. In the present application, by formulating an accurate loading strategy for each vehicle to be loaded, not only the accuracy of the loading control operation can be improved, but also the problem of low loading efficiency existing in the related art can be overcome, and the loading efficiency of the vehicle can be significantly improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following is a brief introduction to the drawings required for use in the description of the embodiments. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0042] Figure 1 It is a schematic diagram of the architecture of a cargo loading control system shown in one embodiment of the present application;

[0043] Figure 2 is a flow chart of a method for controlling vehicle loading shown in one embodiment of the present application;

[0044] Figure 3 It is a schematic diagram of a complete process of controlling vehicle loading shown in an embodiment of the present application;

[0045] Among them, 1-vehicle, 2-material grabbing mechanism, 3-laser scanner, 4-wireless RFID reader / writer, 5-wireless RFID tag, 6-server, 7-programmable logic controller, 8-signal display light, 9-information display screen, 10-switch, 11-5G terminal, 12-5G base station. DETAILED DESCRIPTION

[0046] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the present application is further described in detail below in conjunction with the accompanying drawings and specific implementation methods. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0047] In the present application, a plurality of different material grabbing mechanisms are arranged in the loading area, and the material grabbing mechanisms are located above the vehicle, and the material grabbing mechanisms are used to grab materials and place them in the vehicle compartment. When the vehicle needs to load cargo, it directly drives under a certain material grabbing mechanism, and at this time, the cargo loading control system starts to identify the vehicle and perform loading control.

[0048] The vehicle in this application mainly refers to a bulk cargo vehicle, which is used to transport bulk cargo that is not packaged or is simply packaged, such as coal, ore, grain, fertilizer, cement, etc. The bulk cargo vehicle in this application is a van-type bulk cargo vehicle.

[0049] The present application provides a method for controlling vehicle loading, which is specifically applied to a cargo loading control system. Before the method for controlling vehicle loading of the present application is described in detail, the cargo loading control system is first introduced below.

[0050] Figure 1 Schematic diagram of a cargo loading control system according to an embodiment of the present application. Figure 1 The cargo loading control system of the present application at least includes a radio frequency identification (RFID) reader / writer 4, a radio frequency identification tag 5, a laser scanner 3, a server 6, a programmable logic controller 7, a signal display light 8, and an information display screen 9.

[0051] The RFID reader / writer 4 is installed on the material grabbing mechanism 2 . The RFID tag 5 is matched with the RFID reader / writer 4 and installed on the vehicle 1 .

[0052] Among them, the RFID reader / writer 4 can identify multiple RFID tags 5 at the same time. The RFID reader / writer 4 transmits radio waves of a specific frequency through an antenna to activate and communicate with the RFID tag 5. The RFID tag 5 can store specific information, such as the unique identifier of the item, the production date, the batch number, etc., which can be read or written by the RFID reader / writer 4. When the RFID tag 5 enters the RF field of the reader / writer, the RFID tag 5 will respond to the signal of the RFID reader / writer 4 and send it the information stored in the tag. The RFID reader / writer 4 receives this information and performs decoding processing.

[0053] In this embodiment, a radio frequency identification reader / writer 4 is installed in front of each material grabbing mechanism 2, and a radio frequency identification tag 5 is installed on the top of the front of each vehicle 1. The installation position of the radio frequency identification reader / writer 4 on the material grabbing mechanism 2 and the position of the radio frequency identification tag 5 on the vehicle 1 can be set according to actual conditions, as long as the signal strength is strong enough and the information in the radio frequency identification tag 5 can be accurately read.

[0054] In one embodiment, the wireless radio frequency identification tag 5 can be an anti-iron tag (or RFID anti-metal electronic tag, used for tag identification and tracking on a metal surface or in a metal environment) to overcome the problem that the traditional wireless radio frequency identification tag 5 is easily interfered with and cannot be accurately identified in a metal environment.

[0055] The material grabbing mechanism 2 of the present application is a hopper in the loading area.

[0056] The laser scanner 3 is arranged opposite to the material grabbing mechanism 2 and on the side of the vehicle 1. The position of the laser scanner 3 can be set according to the actual implementation situation, for example, the height is not less than 2 meters and the inclination is 2° upward. In addition, the scanning angle and scanning frequency of the laser scanner 3 can also be set according to actual needs, as long as it can ensure that the coordinate information of the preset point on the vehicle 1 can be quickly and accurately located.

[0057] The RFID reader / writer 4 and the laser scanner 3 are respectively connected to the server 6 for communication. In one embodiment, the RFID reader / writer 4 and the laser scanner 3 are connected to the server 6 for communication via the switch 10, the 5G terminal 11, and the 5G base station 12 in sequence. Figure 1 As shown. As a key device in the network, the switch 10 has multiple ports, each of which has a bridging function and can connect various devices in the local area network, including the laser scanner 3, the 5G terminal 11, etc. After receiving the data sent by the wireless radio frequency identification reader 4 or the laser scanner 3, the switch 10 sends the data to the 5G terminal 11, and the 5G terminal 11 then sends the data to the server 6 through the 5G base station 12.

[0058] Of course, the RFID reader / writer 4 and the laser scanner 3 may also be connected to the server 6 in other communication ways, which may be configured according to actual needs, and this embodiment does not impose any specific limitation on this.

[0059] In this embodiment, the server 6 includes a vehicle material information management system and a vehicle positioning system. The functions of these two parts will be described in detail later.

[0060] The programmable logic controller 7 (PLC) is in communication with the server 6. As the core control system of the loading area, the programmable logic controller 7 is responsible for receiving data sent by the server 6 and controlling the loading process of the vehicle 1 according to the received data. The programmable logic controller 7 is installed in the electrical room and is used to automatically control and coordinate the relevant equipment in the loading area.

[0061] In one embodiment, the programmable logic controller 7 is connected to the switch 10 and communicates with the server 6 based on the 5G network. Figure 1 shown.

[0062] The signal display light 8 is connected to the programmable logic controller 7 for communication. The signal display light 8 is used to display light according to the control instruction sent by the programmable logic controller 7 to guide the vehicle 1 to travel. For example, the signal display light 8 is used to display light signals related to stop, advance, retreat, leave, and prompt the next vehicle to enter under the material grabbing mechanism 2 during the loading process of the vehicle 1. In one embodiment, the signal display light 8 can communicate with the server 6 through a 5G network, such as Figure 1 shown.

[0063] The information display screen 9 is connected to the server 6 for displaying the current working status of all vehicles in the loading area. For example, the information display screen 9 displays the license plate number, material type, loading progress, control mode, whether it is a legal vehicle, date and time, etc. of each vehicle in the loading area in real time. In one embodiment, the information display screen 9 can communicate with the server 6 via a 5G network, such as Figure 1 shown.

[0064] The installation positions of the signal display light 8 and the information display screen 9 can be set according to actual needs, but it is necessary to ensure that the driver can see them at any time through the side window. In addition, the information display rate of the signal display light 8 (or the information display screen 9) needs to meet the preset requirements, for example, it is necessary to ensure that the signal (or information) is given within 1 second.

[0065] Figure 2 FIG. 1 is a flow chart of a method for controlling vehicle loading according to an embodiment of the present application. Figure 2 The method for controlling vehicle loading of the present application may specifically include the following steps:

[0066] S11: When the vehicle 1 to be loaded enters the loading sub-area corresponding to the target material grabbing mechanism 2 in the loading area, the label information carried by the label module on the vehicle 1 and the coordinate information of the preset point on the vehicle 1 are obtained. A plurality of different material grabbing mechanisms 2 are arranged in the loading area, and each material grabbing mechanism 2 corresponds to a different loading sub-area.

[0067] The tag module in this embodiment is specifically Figure 1 The radio frequency identification tag 5 shown in FIG.

[0068] In this embodiment, the RFID reader / writer 4 reads the tag information carried by the RFID tag 5 on the vehicle 1 , and the laser scanner 3 acquires the coordinate information of the preset point on the vehicle 1 .

[0069] In specific implementation, it is possible to determine whether the vehicle 1 to be loaded has entered the loading sub-area corresponding to the target material grabbing mechanism 2 in the loading area in a variety of ways. In one embodiment, a monitoring device can be installed. When it is monitored that a vehicle 1 has entered the bottom of the target material grabbing mechanism 2, it can be determined that a vehicle has entered the loading sub-area corresponding to the target material grabbing mechanism 2 in the loading area. At this time, the wireless radio frequency identification reader 4 and the laser scanner 3 are started to start working. In another embodiment, there is no need to install a monitoring device. The time interval for the wireless radio frequency identification reader 4 to transmit the radio frequency signal is set to a smaller value. As long as a vehicle approaches the target material grabbing mechanism 2, the wireless radio frequency identification reader 4 can automatically sense the wireless radio frequency identification tag 5 on the vehicle and read the tag information. Secondly, when the vehicle approaches the target material grabbing mechanism 2, it is usually located within the scanning angle of the laser scanner 3 corresponding to the target material grabbing mechanism 2, and the laser scanner 3 can automatically collect the coordinate information of the preset point on the vehicle.

[0070] S12: Determine characteristic information of the vehicle 1 according to the tag information, and determine characteristic information of the target material grabbing mechanism 2 according to the coordinate information.

[0071] In this embodiment, S12 is executed by the server 6 .

[0072] Specifically, determining the characteristic information of the vehicle 1 according to the tag information may include:

[0073] Determine the identity of vehicle 1 according to the tag information;

[0074] The characteristic information matching the identity identifier in the first preset database is determined as the characteristic information of vehicle 1.

[0075] In this embodiment, the tag information is pre-written with the identity of the vehicle 1. The identity is specifically the vehicle identification number (VIN) or other information that can uniquely identify the vehicle. The vehicle identification number is a unique code consisting of a string of numbers and letters that is unique to each car and is used to uniquely identify a car.

[0076] In this embodiment, the vehicle material information management system in the server 6 is provided with a vehicle information module, a basic data module and a data communication module. The data communication module is used to realize the communication between the vehicle material information management system and other external devices. The functions of the vehicle information module and the basic data module will be described later.

[0077] The first preset database is located in the vehicle information module.

[0078] The vehicle type, license plate number, and vehicle identification number can be pre-entered in the vehicle information module. Vehicle types include high-box vehicles, ordinary vehicles, and low-box vehicles, and the license plate number is entered according to the actual license plate number of the vehicle. Of course, other vehicle-related information can also be entered in the vehicle information module, which can be set according to actual needs.

[0079] In this embodiment, the server 6 determines the identity of the vehicle 1 through the vehicle material information management system, and finds out the characteristic information matching the identity in the vehicle information module as the characteristic information of the vehicle 1 .

[0080] The characteristic information of the vehicle 1 may be, for example, the vehicle type, license plate number, etc. The characteristic information of the vehicle 1 may be specifically set according to actual needs.

[0081] In one embodiment, determining characteristic information of the target material grabbing mechanism 2 according to the coordinate information includes:

[0082] Determine the position information of the target material grabbing mechanism 2 according to the coordinate information;

[0083] The characteristic information matching the position information in the second preset database is determined as the characteristic information of the target material grabbing mechanism 2 .

[0084] In this embodiment, each material grabbing mechanism 2 in the loading area has a unique serial number, which indicates the position of the material grabbing mechanism 2.

[0085] The second preset database is located in the basic data module. In the basic data module, various information such as the loading area of ​​vehicle 1, vehicle type, material grabbing mechanism type, material grabbing mechanism model, material type, total number of hoppers that the vehicle can load, and the position of the compartment of each material grabbing mechanism corresponding to the vehicle can be pre-entered. The loading area is the area in the loading area that can be provided to all vehicles for loading; vehicle types include forklifts, bulk cargo vehicles, sprinkler trucks, etc., and in this application, they are mainly bulk cargo vehicles; material grabbing mechanism types include large-size material grabbing mechanisms and small-size material grabbing mechanisms; material types include coal, ore, slag, steel slag, etc.; the total number of hoppers that the vehicle can load can be set according to actual needs; the compartment position of each material grabbing mechanism corresponding to the vehicle is calibrated according to the actual position of the vehicle compartment under the material grabbing mechanism. Of course, other types of information can also be entered in the basic data module, which can be set according to actual needs.

[0086] In the actual loading process, at the same time and for the same vehicle, only one material grabbing mechanism 2 can load the vehicle until the conditions set in the loading control strategy are met.

[0087] In this embodiment, the server 6 first determines the position information of the target material grabbing mechanism 2 through the vehicle positioning system, and then uses the vehicle material information management system to find the characteristic information matching the position information in the basic data module based on the position information of the target material grabbing mechanism 2 as the characteristic information of the target material grabbing mechanism 2.

[0088] The characteristic information of the target material grabbing mechanism 2 may be, for example, the type of material grabbing mechanism and the model of the material grabbing mechanism, which may be specifically set according to actual needs.

[0089] S13: Determine a loading control strategy corresponding to the target material grabbing mechanism 2 according to the characteristic information of the vehicle 1 and the characteristic information of the target material grabbing mechanism 2 .

[0090] In S13, the server 6 can determine the loading control strategy corresponding to the target material grabbing mechanism 2 through the vehicle material information management system. For example, the server 6 can directly query the corresponding loading control strategy in the vehicle material information management system based on the correspondence between the preset characteristic information of the vehicle and the characteristic information of the target material grabbing mechanism.

[0091] Since the characteristic information of the vehicle 1 and the characteristic information of the target material grabbing mechanism 2 may have multiple situations, different situations may be taken into consideration in actual implementation to obtain a rich variety of loading control strategies, which are then stored in the vehicle material information management system.

[0092] In one embodiment, the loading control strategy may at least include the number of times the target material grabbing mechanism 2 grabs materials, the position of the target material grabbing mechanism 2 relative to the compartment of the vehicle 1 during each grabbing, and the type of materials that the target material grabbing mechanism 2 needs to grab. Of course, other strategy data may also be set in the loading control strategy, which may be set according to actual needs.

[0093] S14: According to the loading control strategy, the target material grabbing mechanism 2 is controlled to load the vehicle 1.

[0094] In this embodiment, after determining the loading control strategy, the server 6 sends the loading control strategy to the programmable logic controller 7, and the programmable logic controller 7 controls the target material grabbing mechanism 2 to load the vehicle 1 according to the loading control strategy.

[0095] The method for controlling vehicle loading of the present application is implemented, when the vehicle 1 to be loaded enters the loading sub-area corresponding to the target material grabbing mechanism 2 in the loading area, the tag information carried by the wireless radio frequency identification tag 5 on the vehicle 1 and the coordinate information of the preset point on the vehicle 1 are obtained, then, the characteristic information of the vehicle 1 is determined according to the tag information, and the characteristic information of the target material grabbing mechanism 2 is determined according to the coordinate information; then, according to the characteristic information of the vehicle 1 and the characteristic information of the target material grabbing mechanism 2, the loading control strategy corresponding to the target material grabbing mechanism 2 is determined; finally, according to the loading control strategy, the target material grabbing mechanism 2 is controlled to load the vehicle 1. In the present application, by formulating an accurate loading strategy for each vehicle to be loaded, not only the accuracy of the loading control operation can be improved, but also the problem of low loading efficiency existing in the related technology can be overcome, and the loading efficiency of the vehicle can be significantly improved.

[0096] In combination with the above embodiments, in one implementation, the preset points may further include a first point located at the head of the vehicle 1 and a second point located at the rear of the vehicle 1. After determining the characteristic information of the target material grabbing mechanism 2 according to the coordinate information, the method of the present application may further include:

[0097] The current length of the compartment of the vehicle 1 is determined based on the coordinate information of the first point and the coordinate information of the second point.

[0098] In this embodiment, when the vehicle 1 passes through the scanning angle set by the laser scanner 3, the laser scanner 3 accurately locates the vehicle 1 through the set scanning frequency, and obtains the polar coordinates (ρ1, θ1) of the first point at the head of the vehicle and the polar coordinates (ρ2, θ2) of the second point at the rear of the vehicle. Then, the laser scanner 3 sends the polar coordinates (ρ1, θ1) and the polar coordinates (ρ2, θ2) to the server 6.

[0099] In actual implementation, the coordinate information of the vehicle head is not used to avoid position deviation caused by the glass refracting the laser. Secondly, the angle origin of the polar coordinates is determined according to the device information of the laser scanner 3.

[0100] The vehicle positioning system in the server 6 analyzes the polar coordinates (ρ1, θ1) of the first point and the polar coordinates (ρ2, θ2) of the second point, and converts the polar coordinates of the first point into rectangular coordinates (x1, y1) according to the rectangular coordinate formulas x1=ρ1*cosθ1 and y1=ρ1*sinθ1, and converts the polar coordinates of the second point into rectangular coordinates (x2, y2) according to the rectangular coordinate formulas x2=ρ2*cosθ2 and y2=ρ2*sinθ2. Then, the vehicle positioning system calculates the distance between the first point and the second point according to the distance formula between the two points as the length L of the current compartment of the vehicle 1.

[0101] Accordingly, in S13, according to the characteristic information of the vehicle 1 and the characteristic information of the target material grabbing mechanism 2, a loading control strategy corresponding to the target material grabbing mechanism 2 is determined, including:

[0102] According to the characteristic information of the vehicle 1, the characteristic information of the target material grabbing mechanism 2 and the current length of the carriage of the vehicle 1, the loading control strategy corresponding to the target material grabbing mechanism 2 is determined.

[0103] In this embodiment, the length L of the carriage can be used to determine the control strategy. For example, when the control strategy includes the number of material grabbing times of the material grabbing mechanism 2 and the position information of the material grabbing mechanism 2 relative to the carriage of the vehicle 1 at each material grabbing time, the current length of the carriage of the vehicle 1 needs to be considered. For example, if it is stipulated that the material is grabbed once every 2m of the carriage length, when the length L of the carriage is 6m, the number of material grabbing times is 3 times, and the position of the material grabbing mechanism 2 relative to the carriage of the vehicle 1 at each material grabbing time can be set to 1m, 3m and 5m of the carriage (starting from the front position of the vehicle) in sequence.

[0104] In this embodiment, the loading process of vehicle 1 is controlled by determining a loading control strategy based on characteristic information of vehicle 1, characteristic information of target material grabbing mechanism 2 and the current length L of the vehicle compartment of vehicle 1, thereby improving the accuracy of loading control operation and the loading efficiency of vehicle 1.

[0105] In combination with the above embodiments, in one implementation, a target detection point is provided on the opposite side of the target material grabbing mechanism 2, and the target detection point is used to detect the coordinate information at a preset point. The target detection point is the position where the laser scanner 3 is installed.

[0106] Continuing from the above embodiment, after obtaining the tag information carried by the radio frequency identification tag 5 on the vehicle 1 and the coordinate information of the preset point on the vehicle 1, the method of the present application may further include:

[0107] Get the distance between the target detection point and vehicle 1.

[0108] In this embodiment, according to the rectangular coordinate information of the laser scanner 3, the rectangular coordinate information of the first point on the vehicle 1, and the rectangular coordinate information of the second point, the distance D between the laser scanner 3 and the vehicle 1 can be roughly calculated. In specific implementation, other methods can also be used to determine the distance D between the laser scanner 3 and the vehicle 1, and this embodiment does not specifically limit this.

[0109] Accordingly, according to the characteristic information of the vehicle 1 and the characteristic information of the target material grabbing mechanism 2, the control strategy corresponding to the vehicle 1 is determined, including:

[0110] Determine whether vehicle 1 is a legal vehicle based on the current length and distance of the carriage;

[0111] If the vehicle 1 is a legal vehicle, the loading control strategy corresponding to the target material grabbing mechanism 2 is determined according to the characteristic information of the vehicle 1 and the characteristic information of the target material grabbing mechanism 2 .

[0112] Specifically, determining whether the vehicle 1 is a legal vehicle according to the current length and distance of the vehicle compartment may include:

[0113] If the length of the vehicle compartment is not less than the preset length threshold, and the distance is not less than the preset distance threshold, it is determined that vehicle 1 is a legal vehicle.

[0114] In this embodiment, legal vehicles refer to vehicles that are allowed to enter the loading area, that is, vehicles that are not authorized to enter the loading area are collectively referred to as illegal vehicles.

[0115] The preset length threshold and the preset distance threshold can be set based on experience.

[0116] Through this embodiment, interfering vehicles that illegally enter the loading area can be filtered to prevent illegal vehicles from affecting the normal loading work of the vehicles, thereby ensuring the loading efficiency at the loading site.

[0117] In combination with the above embodiments, in one implementation, the control strategy includes at least the number of times the target material grabbing mechanism 2 grabs materials, the position of the target material grabbing mechanism 2 relative to the vehicle compartment of the vehicle 1 during each grabbing, and the type of materials that the target material grabbing mechanism 2 needs to grab. On this basis, according to the loading control strategy, controlling the target material grabbing mechanism 2 to load the vehicle 1 may include:

[0118] According to the number of material grabbing times and the position of the target material grabbing mechanism 2 relative to the carriage of the vehicle 1 during each material grabbing, the vehicle 1 is controlled to adjust to a standard material grabbing position;

[0119] After the vehicle 1 is adjusted to the standard material grabbing position, the target material grabbing mechanism 2 is controlled to grab the material that meets the material type and place it in the compartment of the vehicle 1 .

[0120] In this embodiment, the server 6 sends the loading control strategy to the programmable logic controller 7, and the programmable logic controller 7 executes the control strategy. On the one hand, it controls the operation of the target material grabbing mechanism 2, and on the other hand, it controls the signal display light 8 to guide the vehicle 1 to adjust its position, so as to smoothly load the material into the car.

[0121] For example, if the number of material grabbing times is 3 times, the position of the target material grabbing mechanism 2 relative to the carriage of the vehicle 1 each time the material is grabbed is 1m, 3m and 5m of the carriage respectively (starting from the front position), and the type of material is ore, then the programmable logic controller 7 first guides the vehicle 1 to move through the signal display light 8, so that the target material grabbing mechanism 2 is located at 1m of the carriage, and then controls the target material grabbing mechanism 2 to grab the ore and place it in the carriage; then, the programmable logic controller 7 guides the vehicle 1 to move again through the signal display light 8, so that the target material grabbing mechanism 2 is located at 3m of the carriage, and controls the target material grabbing mechanism 2 to grab the ore and place it in the carriage; similarly, the programmable logic controller 7 guides the vehicle 1 to move again through the signal display light 8, so that the target material grabbing mechanism 2 is located at 5m of the carriage, and controls the target material grabbing mechanism 2 to grab the ore and place it in the carriage, and thus the loading of the vehicle 1 is completed.

[0122] Figure 3 This is a complete flow chart of controlling vehicle loading according to an embodiment of the present application. Figure 1 and Figure 3 , the method of the present application is described in detail with a complete embodiment. After the vehicle M enters under the material grabbing mechanism X, the loading is realized through the following steps in sequence:

[0123] Step 1: The RFID reader / writer 4 reads the tag information of the RFID tag 5 on the vehicle M and sends the tag information to the vehicle material information management system in the server 6. Secondly, the laser scanner 3 obtains the polar coordinates (ρ1, θ1) of the first point at the head of the vehicle M and the polar coordinates (ρ2, θ2) of the second point at the tail of the vehicle M, and sends the polar coordinates (ρ1, θ1) of the first point and the polar coordinates (ρ2, θ2) of the second point to the vehicle positioning system in the server 6.

[0124] Step 2: The vehicle positioning system converts the polar coordinates (ρ1, θ1) into rectangular coordinates (x1, y1), converts the polar coordinates (ρ2, θ2) into rectangular coordinates (x2, y2), and calculates the length L of the current compartment of the vehicle M and the distance D between the laser scanner 3 and the vehicle M.

[0125] Step 3: The vehicle positioning system sends the length L, distance D, rectangular coordinates (x1, y1) and rectangular coordinates (x2, y2) of the carriage to the vehicle material information management system.

[0126] Step 4: The vehicle material information management system determines whether the length L of the carriage is less than the set length threshold, and whether the distance D is less than the set distance threshold. As long as one of the above is satisfied, the vehicle M is determined to be an interference vehicle (i.e., an illegal vehicle). If the vehicle M is an interference vehicle, a message is output to prompt the vehicle M to leave the loading area, otherwise, it goes to step 5.

[0127] Step 5: The basic data module in the vehicle material information management system determines the position of the material grabbing mechanism X according to the rectangular coordinates (x1, y1) and the rectangular coordinates (x2, y2), that is, determines the serial number of the material grabbing mechanism X, and then determines the characteristic information of the material grabbing mechanism X according to the position of the material grabbing mechanism X, including the type and model of the material grabbing mechanism. Next, the vehicle information module in the vehicle material information management system determines the vehicle identification number of the vehicle M according to the tag information, and determines the characteristic information of the vehicle M in the vehicle information module according to the vehicle identification number, including the vehicle type and license plate number.

[0128] Step 6: The basic data module in the vehicle material information management system queries and obtains a matching loading control strategy based on the characteristic information of the material grabbing mechanism X and the characteristic information of the vehicle M based on the preset corresponding relationship, including: the number of material grabbing times of the material grabbing mechanism X, the position of the material grabbing mechanism X relative to the carriage of the vehicle M during each grabbing time, and the type of material that the material grabbing mechanism X needs to grab.

[0129] Step 7: The vehicle material information management system sends the control strategy to the programmable logic controller 7.

[0130] Step 8: The programmable logic controller 7 executes the control strategy. On the one hand, it controls the signal display light 8 to display to guide the vehicle M to adjust its position. On the other hand, it controls the material grabbing mechanism X to work, so as to load the material into the vehicle compartment.

[0131] Step 9: The vehicle material information management system displays the real-time status of the vehicle M on the information display screen 9, including the vehicle's license plate number, material type, loading progress, control mode, date and time, etc.

[0132] In this application, an accurate loading strategy is formulated for each vehicle to be loaded, which can not only improve the accuracy of loading control operations, but also overcome the problem of low loading efficiency existing in related technologies and significantly improve the loading efficiency of vehicles.

[0133] It should be noted that, for the method embodiments, for the sake of simplicity, they are all expressed as a series of action combinations, but those skilled in the art should be aware that the embodiments of the present application are not limited by the described order of actions, because according to the embodiments of the present application, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions involved are not necessarily required by the embodiments of the present application.

[0134] Based on the same inventive concept, an embodiment of the present application provides a cargo loading control system, including:

[0135] A wireless radio frequency identification reader / writer is used to obtain the label information carried by the label module on the vehicle when the vehicle to be loaded enters the loading sub-area corresponding to the target material grabbing mechanism in the loading area, wherein a plurality of different material grabbing mechanisms are arranged in the loading area, and each of the material grabbing mechanisms corresponds to a different loading sub-area;

[0136] A laser scanner, used to obtain coordinate information of a preset point on the vehicle;

[0137] The server is used to determine the characteristic information of the vehicle according to the tag information, determine the characteristic information of the target material grabbing mechanism according to the coordinate information, and determine the loading control strategy corresponding to the target material grabbing mechanism according to the characteristic information of the vehicle and the characteristic information of the target material grabbing mechanism;

[0138] A programmable logic controller is used to control the target material grabbing mechanism to load the vehicle according to the loading control strategy.

[0139] The working principles of the RFID reader / writer, the laser scanner, the server and the programmable logic controller may be specifically referred to the above embodiments, which will not be described in detail in this embodiment.

[0140] Through the cargo loading control system of the present application, an accurate loading strategy can be formulated for each vehicle to be loaded, which can not only improve the accuracy of the loading control operation, but also overcome the inefficiency problems existing in related technologies and significantly improve the loading efficiency of the vehicle.

[0141] Optionally, the cargo loading control system further comprises:

[0142] A signal display light is communicatively connected to the programmable logic controller, the signal display light is used to receive a first control instruction sent by the programmable logic controller according to the loading control strategy, and in response to the first control instruction, displays a light signal matching the first control instruction, and the light signal is used to guide the vehicle to move to a standard material grabbing position.

[0143] The working principle of the signal display light may be specifically referred to the above embodiments, and will not be elaborated in detail in this embodiment.

[0144] Optionally, the cargo loading control system further comprises:

[0145] An information display screen is connected to the server for communication, and is used to receive a second control instruction sent by the server and display the current status information of the vehicle in response to the second control instruction.

[0146] The working principle of the information display screen may be specifically referred to the above embodiments, and will not be elaborated in detail in this embodiment.

[0147] In the present application, a data storage module is also provided in the server for storing data in the vehicle material information management system, the vehicle positioning system and data in the loading process.

[0148] In addition, the laser scanner should be wiped once a month to keep the filter clean.

[0149] As for the device embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0150] The present application also provides a server, including:

[0151] processor;

[0152] a memory for storing instructions executable by the processor;

[0153] The processor is configured to execute a method for controlling vehicle loading as described in an embodiment of the present application.

[0154] The embodiment of the present application also provides a non-temporary computer-readable storage medium. When the instructions in the storage medium are executed by the processor of the server, the server can execute a method for controlling vehicle loading as described in the embodiment of the present application.

[0155] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented in one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that include computer-usable program code.

[0156] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0157] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0158] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0159] Although the preferred embodiments of the present application have been described, those skilled in the art may make other changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications falling within the scope of the present application.

[0160] Obviously, those skilled in the art can make various changes and modifications to the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is also intended to include these modifications and variations.

Claims

1. A method for controlling vehicle loading, characterized in that: Applied to a cargo loading control system, the method comprises: When a vehicle to be loaded enters a loading sub-area corresponding to a target material grabbing mechanism in a loading area, label information carried by a label module on the vehicle and coordinate information of a preset point on the vehicle are obtained, wherein a plurality of different material grabbing mechanisms are arranged in the loading area, and each of the material grabbing mechanisms corresponds to a different loading sub-area; Determine characteristic information of the vehicle according to the tag information, and determine characteristic information of the target material grabbing mechanism according to the coordinate information; Determining a loading control strategy corresponding to the target material grabbing mechanism according to the characteristic information of the vehicle and the characteristic information of the target material grabbing mechanism; According to the loading control strategy, the target material grabbing mechanism is controlled to load the vehicle.

2. The method according to claim 1, characterized in that The determining the characteristic information of the vehicle according to the tag information includes: Determining the identity of the vehicle according to the tag information; The characteristic information matching the identity identifier in the first preset database is determined as the characteristic information of the vehicle.

3. The method according to claim 1, characterized in that: The determining the characteristic information of the target material grabbing mechanism according to the coordinate information includes: Determine the position information of the target material grabbing mechanism according to the coordinate information; The characteristic information matching the position information in the second preset database is determined as the characteristic information of the target material grabbing mechanism.

4. The method according to claim 1, characterized in that: The preset points include a first point located at the head of the vehicle compartment and a second point located at the rear of the vehicle compartment. After determining the characteristic information of the target material grabbing mechanism according to the coordinate information, the method further includes: Determining the current length of the vehicle compartment according to the coordinate information of the first point and the coordinate information of the second point; The step of determining a loading control strategy corresponding to the target material grabbing mechanism according to the characteristic information of the vehicle and the characteristic information of the target material grabbing mechanism comprises: A loading control strategy corresponding to the target material grabbing mechanism is determined according to the characteristic information of the vehicle, the characteristic information of the target material grabbing mechanism, and the current length of the vehicle compartment.

5. The method according to claim 4, characterized in that A target detection point is provided on the opposite side of the target material grabbing mechanism, and the target detection point is used to detect the coordinate information at the preset point. After acquiring the label information carried by the label module on the vehicle and the coordinate information at the preset point on the vehicle, the method further includes: Obtaining the distance between the target detection point and the vehicle; Determining a loading control strategy corresponding to the target material grabbing mechanism according to the characteristic information of the vehicle and the characteristic information of the target material grabbing mechanism includes: Determining whether the vehicle is a legal vehicle according to the current length of the carriage and the distance; If the vehicle is a legal vehicle, a loading control strategy corresponding to the target material grabbing mechanism is determined according to the characteristic information of the vehicle and the characteristic information of the target material grabbing mechanism.

6. The method according to claim 5, characterized in that The determining whether the vehicle is a legal vehicle according to the current length of the carriage and the distance includes: If the length of the vehicle compartment is not less than a preset length threshold, and the distance is not less than a preset distance threshold, the vehicle is determined to be a legal vehicle.

7. The method according to claim 5, characterized in that The control strategy at least includes the number of times the target material grabbing mechanism grabs materials, the position of the target material grabbing mechanism relative to the vehicle compartment during each grabbing, and the type of materials that the target material grabbing mechanism needs to grab; the control of the target material grabbing mechanism to load the vehicle according to the loading control strategy includes: According to the number of material grabbing times and the position of the target material grabbing mechanism relative to the vehicle compartment during each material grabbing, controlling the vehicle to adjust to a standard material grabbing position; After the vehicle is adjusted to the standard material grabbing position, the target material grabbing mechanism is controlled to grab the material that meets the type of the material and place it in the compartment of the vehicle.

8. A cargo loading control system, characterized in that: include: A wireless radio frequency identification reader / writer is used to obtain the label information carried by the label module on the vehicle when the vehicle to be loaded enters the loading sub-area corresponding to the target material grabbing mechanism in the loading area, wherein a plurality of different material grabbing mechanisms are arranged in the loading area, and each of the material grabbing mechanisms corresponds to a different loading sub-area; A laser scanner, used to obtain coordinate information of a preset point on the vehicle; The server is used to determine the characteristic information of the vehicle according to the tag information, determine the characteristic information of the target material grabbing mechanism according to the coordinate information, and determine the loading control strategy corresponding to the target material grabbing mechanism according to the characteristic information of the vehicle and the characteristic information of the target material grabbing mechanism; A programmable logic controller is used to control the target material grabbing mechanism to load the vehicle according to the loading control strategy.

9. The cargo loading control system according to claim 8, characterized in that: The cargo loading control system further comprises: A signal display light is communicatively connected to the programmable logic controller, the signal display light is used to receive a first control instruction sent by the programmable logic controller according to the loading control strategy, and in response to the first control instruction, displays a light signal matching the first control instruction, and the light signal is used to guide the vehicle to move to a standard material grabbing position.

10. The cargo loading control system according to claim 8 or 9, characterized in that: The cargo loading control system further comprises: An information display screen is connected to the server for communication, and is used to receive a second control instruction sent by the server and display the current status information of the vehicle in response to the second control instruction.

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