Positioning method and device for train carriage position, controller and yard crane

Abstract

The invention provides a positioning method and device for a train carriage position, a controller and a yard crane, and the method comprises the steps: obtaining a train identifier of a train and a task carriage identifier of a picking and releasing task when the train enters a yard area; according to the vehicle identifier, determining the carriage number, the carriage length and the carriage change length of the train; the yard crane equipment is controlled to move along the track, and when the first carriage or the last carriage of the train is recognized, the limit area range of the train in the yard area is determined according to the current position, the carriage length, the carriage number and the carriage replacement length of the yard crane equipment; identifying a target carriage identifier of any carriage in the limit area range along with the movement of the yard crane equipment; and when the target compartment identifier is the same as the task compartment identifier, determining a target position of the task compartment corresponding to the target compartment identifier. The operation compartment is determined for the first time based on a blind positioning mode, a vehicle position cloud picture does not need to be additionally constructed, operation is convenient, and the operation efficiency of container loading and unloading is improved.

Description

Technical Field

[0001] The present application relates to the technical field of container loading and unloading, and in particular to a method, device, controller and field crane for locating the position of a train carriage. Background Art

[0002] In modern railway transportation and yard management, the introduction of automated systems is key to improving operational efficiency and accuracy. This is particularly true for railway freight operations, which involve the rapid unloading, stacking, and redistribution of freight cars. To efficiently complete these tasks, positioning systems are required to accurately identify and locate railway freight cars.

[0003] Currently, to achieve automated operations, sensors are typically used to create a map of the positions of each train car, allowing for precise positioning. However, this approach, which relies on collecting large amounts of sensor data to create a map, results in low operational efficiency.

[0004] Therefore, how to improve the positioning efficiency of operating train carriages is an urgent problem to be solved. Summary of the Invention

[0005] The present application provides a method, device, controller and field bridge for locating the position of a train carriage, which are used to improve the positioning efficiency of operating train carriages.

[0006] In a first aspect, the present application provides a method for locating a train carriage, the method comprising:

[0007] When a train enters the yard area, obtain the train's vehicle identification and the task car identification of the pick-and-place task;

[0008] Determining the number of carriages, carriage length, and carriage change length of the train according to the vehicle identification;

[0009] Controlling the yard crane equipment to move along the track, and when identifying the first or last carriage of the train, determining the limit area of the train within the yard area based on the current position of the yard crane equipment, the length of the carriage, the number of carriages, and the length of the carriage change;

[0010] As the field crane equipment moves, identifying a target carriage identifier of any carriage within the limit area;

[0011] When the target carriage identifier and the task carriage identifier are the same, the target position of the task carriage corresponding to the target carriage identifier is determined.

[0012] Optionally, determining the target position of the carriage corresponding to the target carriage identifier includes:

[0013] Determine a first relative position of the carriage corresponding to the target carriage identifier relative to the yard bridge equipment;

[0014] Acquiring a second relative position of the yard crane equipment relative to the yard area;

[0015] The target position is determined according to the first relative position and the second relative position.

[0016] Optionally, the method further includes:

[0017] Determine the estimated position interval of the task carriage according to the current position of the field crane equipment, the carriage length, the number of carriages, the carriage change length and the task carriage identifier;

[0018] determining whether the target position is within the estimated position interval;

[0019] If the target location is not within the estimated location interval, a prompt message is output, where the prompt message is used to prompt the user to check whether the positioning is correct.

[0020] Optionally, the method further includes:

[0021] Acquiring image data and a grab-and-release task instruction within the vehicle compartment at the target location;

[0022] determining a task execution area based on the image data;

[0023] In the task execution area, the pick-and-place task instruction is executed.

[0024] Optionally, the method further includes:

[0025] After completing the grab and release task instruction, obtaining a new task carriage identifier;

[0026] Determine the number of interval carriages and the moving direction according to the new task carriage identifier and the target carriage identifier;

[0027] Determining a target length of movement according to the number of interval carriages, the carriage length, and the carriage change length;

[0028] Controlling the field bridge equipment to move the target length along the track in the moving direction to reach a new target position corresponding to the new task carriage identifier;

[0029] Execute a new pick-and-place task instruction at the new target location.

[0030] Optionally, the method further includes:

[0031] The target position and the target carriage identifier are sent to the cooperating field bridge equipment controller.

[0032] In a second aspect, the present application provides a device for locating a train carriage, the device comprising:

[0033] The acquisition module is used to obtain the train vehicle identification and the task car identification of the pick-and-place task when the train enters the yard area;

[0034] a parameter determination module, for determining the number of carriages, carriage length, and carriage change length of the train according to the vehicle identification;

[0035] An area determination module is used to control the movement of the yard crane equipment along the track. When the first or last carriage of the train is identified, the module determines the limit area of the train within the yard area based on the current position of the yard crane equipment, the length of the carriage, the number of carriages, and the length of the carriage change;

[0036] An identification recognition module is used to identify the target carriage identification of any carriage within the limit area as the field crane equipment moves;

[0037] The position determination module is used to determine the target position of the task carriage corresponding to the target carriage identifier when the target carriage identifier and the task carriage identifier are the same.

[0038] In a third aspect, the present application provides a controller, comprising: a memory, a processor;

[0039] The memory stores computer-executable instructions;

[0040] The processor executes the computer-executable instructions stored in the memory, so that the processor performs the method as described in any one of the first aspects.

[0041] In a fourth aspect, the present application provides a field bridge equipment, comprising: a field bridge equipment body, a camera, a ranging sensor, a positioning device and a controller arranged on the field bridge equipment body, the controller being connected to the camera, the positioning device and the ranging sensor respectively, and the controller being used to execute the method described in any one of the first aspects.

[0042] In a fifth aspect, the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer-executable instructions, and when the computer-executable instructions are executed by a processor, they are used to implement the method as described in any one of the first aspects.

[0043] In a sixth aspect, an embodiment of the present application provides a computer program product, comprising a computer program, which, when executed by a processor, implements the method described in any one of the first aspects above.

[0044] The present application provides a method, device, controller, and yard bridge for locating the position of train carriages. The method includes: when a train enters a yard area, obtaining the train's vehicle identification and the task carriage identification of the pick-up and release task; determining the number of train carriages, carriage length, and carriage length change based on the vehicle identification; controlling the yard bridge equipment to move along the track, and when the first or last carriage of the train is identified, determining the train's limit area within the yard area based on the current position of the yard bridge equipment, carriage length, number of carriages, and carriage length change; as the yard bridge equipment moves, identifying the target carriage identification of any carriage within the limit area; when the target carriage identification and the task carriage identification are the same, determining the target position of the task carriage corresponding to the target carriage identification. Through this method, when the working carriage is first determined, it is based on a blind positioning method, and there is no need to additionally construct a vehicle cloud map, which is easy to operate and improves the efficiency of loading and unloading containers. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0046] Figure 1 A flow chart of a method for locating a train carriage provided in this application Figure 1 ;

[0047] Figure 2 A flow chart of a method for locating a train carriage provided in this application Figure 2 ;

[0048] Figure 3 A schematic diagram of the container operation process provided for this application;

[0049] Figure 4 Schematic diagram of the container inside the carriage provided for this application;

[0050] Figure 5 A schematic diagram of three yard cranes at the right yard head is provided for this application;

[0051] Figure 6 Schematic diagram of three yard cranes scattered across the yard provided for this application;

[0052] Figure 7 A schematic diagram of the structure of a train carriage positioning device provided in this application;

[0053] Figure 8 This is a schematic diagram of the structure of the electronic device provided in this application.

[0054] The above drawings illustrate specific embodiments of the present application, which will be described in more detail below. These drawings and the textual description are not intended to limit the scope of the present application in any way, but rather to illustrate the concepts of the present application to those skilled in the art by reference to specific embodiments. DETAILED DESCRIPTION

[0055] Exemplary embodiments will be described in detail herein, with examples illustrated in the accompanying drawings. In the following description, when referring to the drawings, identical numerals in different figures represent identical or similar elements, unless otherwise indicated. The embodiments described in the following exemplary embodiments are not intended to represent all embodiments consistent with the present application. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present application, as detailed in the appended claims.

[0056] In automated operations at railway yards, the position and sequence of carriages must be precisely identified to accurately arrange container loading. In some automated operations, fixed sensors are installed at the yard entrance to locate the first carriage of a train, and then all carriages. However, due to the inconsistent number of cars and body lengths on a train, the train's stopping position is constantly changing, making it impossible to accurately locate the first carriage. To improve positioning accuracy, some automated operations use a large number of sensors to create a point cloud position map of the train, which is used to identify each carriage. However, this method of creating a position map is time-consuming, resulting in low operational efficiency.

[0057] In view of this, the present application provides a method for locating the position of train carriages. After the train enters the yard area, the yard crane equipment is controlled to move to search for the first or last carriage of the train. Once found, the position range of the carriage to be operated is determined based on the search position. The search for the task carriage continues. When the task carriage is found, it is confirmed again whether it meets the position requirements. Through the above method, blind positioning can be achieved without the need to build a map in advance, which improves recognition accuracy and improves work efficiency.

[0058] The following specific embodiments describe in detail the technical solution of the present application and how the technical solution of the present application solves the above-mentioned technical problems. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of the present application will be described below in conjunction with the accompanying drawings.

[0059] Figure 1 A flow chart of a method for locating a train carriage provided in this application Figure 1 , the method comprises the following steps:

[0060] S101. When a train enters a storage yard, the train vehicle identification and the task carriage identification of the catch-and-release task are obtained.

[0061] In this step, the controller of the container handling equipment, or the master controller of the automated loading and unloading system, pre-stores information about each train, including the number of carriages, the number of containers that can be loaded on each carriage, and the specific container cargo. The controller then associates the train's vehicle identification with the train information.

[0062] Sensors, cameras, or other automated equipment at the yard entrance detect train entry in real time. When a train enters the yard area, the sensor captures the train's vehicle identification (VID). This VID is a unique identifier for the train, such as the train number. The sensor transmits the VID to the yard crane equipment controller.

[0063] Based on the vehicle identification, the controller can query the train details associated with it. Based on the vehicle identification, the controller can also query the corresponding specific pick-and-place task, which includes grabbing a container from a task car or placing a container on a task car.

[0064] S102: Determine the number of train carriages, carriage length, and carriage change length according to the vehicle identification.

[0065] After determining the vehicle identification, the number of carriages, the length of the carriages and the length of the exchange between the carriages are determined from the detailed information of the vehicle.

[0066] S103. Control the yard crane equipment to move along the track. When the first or last carriage of the train is identified, determine the limit area of the train in the yard area based on the current position of the yard crane equipment, the length of the carriage, the number of carriages, and the length of the carriage change.

[0067] The entire yard can be several thousand meters long, and train parking locations are not fixed. Yard crane equipment can be parked at a preset initial position, such as the head of the yard or the tail of the destocking area. Alternatively, yard crane equipment can be parked at the location of its last pickup and drop mission after completing a mission, rather than at a preset location. To accurately determine the train's parking location, yard crane equipment is controlled to move along the track, performing blind positioning.

[0068] In one implementation, the yard crane equipment at the head of the yard moves toward the tail of the yard.

[0069] In one implementation, the yard crane equipment at the end of the yard moves toward the head of the yard.

[0070] In one implementation, a yard crane device in the middle of the yard determines the container grabbing position based on the grab and release task and moves toward the position.

[0071] Cameras or ranging sensors (such as radar sensors or 3D laser scanners) are installed on the main beam or trolley of the yard crane to detect the presence of a train on the track below. As the yard crane equipment moves, when a train is detected, it further determines whether the train car appearing in its field of view is the first or last car. The presence of the locomotive can distinguish between the first and last cars of the train. When the first or last car is detected, the current position of the yard crane equipment is obtained. This current position is in the yard coordinate system. Using the same coordinate system facilitates positioning.

[0072] After identifying the first and last cars, the train's limit zone can be determined. This limit zone represents the search range for the yard crane equipment to locate the working car during operation. Specifically, the train length can be determined based on the car length, number of cars, and car change length. The limit zone is calculated by adding the train length to the current position.

[0073] S104: As the yard crane equipment moves, identify the target carriage identifier of any carriage within the limit area.

[0074] To distinguish between different carriages, carriage markings are usually sprayed on the outside of the carriages. As the gantry crane equipment continues to move, the camera captures the target carriage marking on the carriage at the current position, such as the number on the carriage skin.

[0075] S105. When the target carriage identifier and the task carriage identifier are the same, determine the target position of the task carriage corresponding to the target carriage identifier.

[0076] Compare the target car's identification with the task car's identification to confirm a match. After the identifications match, determine the relative position of the task car to be operated relative to the yard area. Use a laser scanner to measure the first relative position between the target car and the yard crane equipment. Use a global positioning system (such as GPS) or a positioning sensor within the yard to determine the second relative position of the yard crane equipment relative to the yard area. Add the coordinates of the first and second relative positions or perform a vector operation to determine the target position of the task car.

[0077] This embodiment provides a method for locating train car positions. The method includes: obtaining the train's vehicle identification and the task car identification for a pick-and-place task when the train enters a storage yard; determining the number of train cars, car length, and car length change based on the vehicle identification; controlling the crane equipment to move along the track. When the first or last train car is identified, determining the train's limit area within the storage yard based on the crane equipment's current position, car length, number of cars, and car length change; identifying the target car identification of any car within the limit area as the crane equipment moves; and determining the target position of the task car corresponding to the target car identification when the target car identification and the task car identification are identical. This method utilizes blind positioning for initial determination of the task car, eliminating the need for constructing a separate vehicle cloud map, facilitating operation, and improving container loading and unloading efficiency. Furthermore, identifying within the limit area avoids the situation where the correct task car identification is missed due to misidentification, resulting in continuous mobile identification and a limited recognition area.

[0078] If the target car's logo matches the task car's logo, the operation can proceed to that car. However, the target car's logo is determined based on image recognition, which can lead to errors. Therefore, to improve operation accuracy, the task car is re-confirmed after the logo matches.

[0079] Figure 2 A flow chart of a method for locating a train carriage provided in this application Figure 2 ,like Figure 2 As shown, the following steps are included:

[0080] S201. Determine an estimated position interval of the task car based on the current position of the first car of the train identified by the yard crane equipment, the car length, the number of cars, the car length change and the identification of the task car.

[0081] When the gantry crane equipment identifies the first train car, it estimates the target vehicle's position interval based on its current position. Based on detailed train information, it determines the car length, number of cars, and car swap length. This detailed information includes car specifications, namely the length of each car, the number of cars per train, and the minimum swap length between cars. Based on the target car identifier, it determines the number of cars between the current location and the car identifier. Based on the current location, it determines the estimated position interval for the target car.

[0082] For example, the yard bridge equipment identifies the first car of the train, the current position is (500, 0), and the task car is identified as the 5th car. Therefore, the task car is 4-5 cars away from the current position. The length of each car is 20 meters, and the shortest length is 2 meters. The estimated position range of the task car is (588, 0)-(610, 0).

[0083] S202: Determine whether the target position is within the estimated position interval.

[0084] The system compares the target position with the estimated position interval to determine whether the target vehicle is within the interval. If the target position is within the estimated position interval, the image recognition result is likely accurate and the vehicle position is confirmed. If the target position is not within the estimated interval, the system may have a recognition error or a positioning problem.

[0085] S203: If the target location is not within the estimated location interval, a prompt message is output, where the prompt message is used to prompt the user to check whether the positioning is correct.

[0086] If the target location is not within the estimated location range, it may indicate an error in image recognition or a deviation in the estimated vehicle location. In this case, the system will output a prompt message to the user, prompting them to check whether the positioning is correct.

[0087] After receiving the prompt message, the user can correct the recognition error by manually checking, adjusting the parameters of the image recognition algorithm, rescanning the logo, or checking the position of the field bridge equipment.

[0088] This embodiment compares the image recognition with the estimated position interval of the task carriage to ensure accurate recognition and avoid operational errors caused by image recognition errors, thereby improving the accuracy and reliability of the operation.

[0089] After determining the target location, you need to execute the operation instructions to grab or release the box.

[0090] Figure 3 The process diagram of container operation provided for this application is as follows: Figure 3 As shown, the following steps are included:

[0091] S301: Acquire image data and a pick-and-place task instruction in the vehicle compartment at a target location.

[0092] The controller uses a camera or other image acquisition device (such as a laser scanner or infrared sensor) to capture image data from the target compartment. After determining the target location, the yard bridge controller obtains specific pick-and-place task instructions related to the task from the task management system or control system. These instructions include: container pick-up or container placement tasks. If the task is a container pick-up task, the pick-and-place task instructions also include the container identification or pick-up location.

[0093] Figure 4 The schematic diagram of the container in the carriage provided for this application is as follows: Figure 4 As shown in the figure, assuming that a carriage can hold a maximum of 4 containers, there are several situations where the carriage may not be fully loaded with containers.

[0094] S302: Determine a task execution area based on the image data.

[0095] In one implementation of a container grabbing task, container identification in image data is identified, matched with the identification of a container to be grabbed, and an area with identification matching is determined.

[0096] In one implementation of a container grabbing task, the location of the container in the image data is identified, and based on the grabbing location, the area corresponding to the container that needs to be grabbed is determined.

[0097] In one implementation of the container placement task, empty spaces in the container are identified in the image data and used as execution areas to execute the container placement task. Alternatively, the execution area is determined based on the location in the pick-and-place task instruction.

[0098] S303: In the task execution area, execute the catch-and-release task instruction.

[0099] Once the mission area is determined, the yard crane equipment will begin executing the pick-and-place task. Specifically, based on the target area and the pick-and-place instructions, it uses pre-set control algorithms (such as PID control and model predictive control) to achieve precise control, ensuring stability and accuracy when picking up or placing containers.

[0100] This embodiment describes how to perform container operations after determining the target location. It relies on the coordination of accurate sensor data, intelligent algorithms, and control systems to ensure that container operations can be completed efficiently and accurately.

[0101] After completing a container operation, the controller obtains a new task car identifier. Based on the new task car identifier and the target car identifier, the controller determines the number of intervening cars and the direction of movement. The controller then determines the position of the first car identifier based on the gantry crane equipment, and the direction of the new task car identifier relative to the target car identifier can be determined. For example, if the first car identifier is the identifier of the last car on a train with 20 cars, the previous task car identifier was the fifth car, and the new task car identifier is the tenth car, the position of the first car identifier is used as the direction of movement. In this example, the number of intervening cars is five. The target length of the movement is determined based on the number of intervening cars, the car length, and the car exchange length. Specifically, the car length plus the car exchange length is multiplied by the number of cars to obtain the target length. The gantry crane equipment is controlled to move the target length in the direction of movement along the track to the new target position corresponding to the new task car identifier. A new pick-and-release task instruction is then executed at the new target position.

[0102] When the above-mentioned new task carriage performs the operation, the operation can be performed based on the field crane equipment of the last operation, or the operation can be performed through other field crane equipment.

[0103] In scenarios where other cranes are operating, they may be closer to the new vehicle, or each crane may have its own operating area, and the new vehicle's operating area may be outside its range. In this case, the controller of the previous crane will send the target location and target vehicle ID to the controller of the new crane.

[0104] The following is an introduction to how to position the carriage using a specific example.

[0105] Figure 5 For this application, a schematic diagram of three yard cranes is provided at the right yard head. Figure 5 As shown in the upper center, the yard crane equipment includes three yard cranes: G1, G2, and G3. S1, S2, and S3 are train carriages that need to be operated.

[0106] Step 1: G3 is on the side closest to the yard. The host computer sends a task to device G3 based on the position of the yard bridge equipment and the boundary position of the entire train information.

[0107] Step 2: Device G3 starts the carriage and simultaneously activates the car number and car position recognition on the device. It then sends the car number and car position relative to the yard to the host computer in real time. The host computer verifies the received car number and car position and updates the initial train position.

[0108] Step 3: When moving to S3, the car number received by the host computer matches the task car number and confirms that the location is the task location. This confirms the working location S3 of the device G3.

[0109] For the position information of the carriages that have not been scanned, when the carriage operation is completed, it is calculated in combination with the current position and the next task.

[0110] Step 4: When G3 is searching for S3, the carriage numbers (e.g., S1 and S2) are scanned, and therefore the operating positions of G1 and G2 are also known. G1 corresponds to S1, and G2 corresponds to S2.

[0111] Figure 6 The schematic diagram of three yard crane equipments scattered in the yard provided for this application. Figure 6 As shown in the upper center, the yard crane equipment includes G1, G2, and G3. S1, S2, and S3 represent the train cars to be operated. When the yard crane equipment is dispersed throughout the yard, any one of the cranes can be selected to identify the car number beneath it and determine its location, or the crane can be moved to locate the first car. After determining any car number, the location of the task car is determined.

[0112] Step 1: The host computer selects the corresponding device G3 according to the operation direction, calculates the boundary position of the task car number S3 based on the information of the entire train, and sends the task to device G3.

[0113] Step 2: Equipment G3 moves the trolley and simultaneously starts the equipment's container number recognition system to identify the car number, and sends the recognized car number and the position relative to the yard position information to the host computer in real time. The host computer updates the position based on the received car number and car position.

[0114] Step 3: When the carriage number received by the host computer matches the task carriage number, the working position S3 of the device G3 is determined.

[0115] Step 4: After G3 finds the position of S3, the host computer sends tasks to devices G2 and G1 based on the identified car body position as the starting position, and repeats the above method of G3 finding S3 for positioning.

[0116] Figure 7 A schematic diagram of a train carriage positioning device provided in this application, such as Figure 7 As shown, the train carriage positioning device 70 includes:

[0117] The acquisition module 701 is used to acquire the train vehicle identification and the task carriage identification of the catch-and-release task when the train enters the yard area;

[0118] A parameter determination module 702 is used to determine the number of carriages, carriage length, and carriage change length of the train according to the vehicle identification;

[0119] The area determination module 703 is used to control the movement of the yard crane equipment along the track. When the first or last carriage of the train is identified, the area determination module 703 determines the limit area of the train within the yard area based on the current position of the yard crane equipment, the length of the carriage, the number of carriages, and the length of the carriage change;

[0120] An identification module 704 is configured to identify a target carriage identification of any carriage within the limit area as the gantry crane moves;

[0121] The position determination module 705 is used to determine the target position of the task car corresponding to the target car identifier when the target car identifier and the task car identifier are the same.

[0122] Optionally, the location determination module 705 is specifically configured to:

[0123] Determine a first relative position of the carriage corresponding to the target carriage identifier relative to the yard bridge equipment;

[0124] Acquiring a second relative position of the yard crane equipment relative to the yard area;

[0125] The target position is determined according to the first relative position and the second relative position.

[0126] Optionally, the area determination module 703 is further configured to:

[0127] Determine the estimated position interval of the task carriage according to the current position of the field crane equipment, the carriage length, the number of carriages, the carriage change length and the task carriage identifier;

[0128] determining whether the target position is within the estimated position interval;

[0129] If the target location is not within the estimated location interval, a prompt message is output, where the prompt message is used to prompt the user to check whether the positioning is correct.

[0130] Optionally, the device further includes an execution module 706, specifically configured to:

[0131] Acquiring image data and a grab-and-release task instruction within the vehicle compartment at the target location;

[0132] determining a task execution area based on the image data;

[0133] In the task execution area, the pick-and-place task instruction is executed.

[0134] Optional,

[0135] The acquisition module 701 is further configured to acquire a new task carriage identifier after completing the catch-and-release task instruction;

[0136] The location determination module 705 is further configured to:

[0137] Determine the number of interval carriages and the moving direction according to the new task carriage identifier and the target carriage identifier;

[0138] Determining a target length of movement according to the number of interval carriages, the carriage length, and the carriage change length;

[0139] Controlling the field bridge equipment to move the target length along the track in the moving direction to reach a new target position corresponding to the new task carriage identifier;

[0140] The execution module 706 is further configured to execute a new pick-and-place task instruction at the new target location.

[0141] Optionally, the device further includes a sending module for sending the target position and the target carriage identifier to a cooperating field bridge equipment controller.

[0142] The train carriage positioning device provided in this embodiment can execute the method provided in the above method embodiment. Its implementation principle and technical effects are similar, and are not described in detail in this embodiment.

[0143] Figure 8 This is a schematic diagram of the structure of the electronic device provided in this application, which can be a controller of a field bridge device or a host computer controller. Figure 8 As shown, the electronic device 50 provided in this embodiment includes: at least one processor 501 and a memory 502. Optionally, the device 50 further includes a communication component 503. The processor 501, the memory 502 and the communication component 503 are connected via a bus 504.

[0144] In a specific implementation process, at least one processor 501 executes the computer-executable instructions stored in the memory 502, so that the at least one processor 501 performs the above method.

[0145] The specific implementation process of the processor 501 can be found in the above method embodiment. Its implementation principle and technical effects are similar and will not be repeated here in this embodiment.

[0146] In the above embodiments, it should be understood that the processor may be a central processing unit (CPU), other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), etc. A general-purpose processor may be a microprocessor or any conventional processor. The steps of the method disclosed in the present invention may be directly executed by a hardware processor or by a combination of hardware and software modules in the processor.

[0147] The memory may include a high-speed memory (Random Access Memory, RAM), and may also include a non-volatile memory (NVM), such as at least one disk memory.

[0148] The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus. Buses can be classified into address buses, data buses, and control buses. For ease of illustration, the buses in the drawings of this application are not limited to just one bus or just one type of bus.

[0149] The present application also provides a computer program product, including a computer program, which implements the above method when executed by a processor.

[0150] The present application also provides a field bridge equipment, including: a field bridge equipment body, a camera, a ranging sensor, a positioning device and a controller arranged on the field bridge equipment body, the controller being connected to the camera, the positioning device and the ranging sensor respectively, and the controller being used to execute the method described in any one of the first aspects.

[0151] The present application also provides a computer-readable storage medium, in which computer-executable instructions are stored. When a processor executes the computer-executable instructions, the above method is implemented.

[0152] The above-mentioned readable storage medium can be implemented by any type of volatile or non-volatile memory device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk or optical disk. The readable storage medium can be any available medium that can be accessed by a general-purpose or special-purpose computer.

[0153] An exemplary readable storage medium is coupled to a processor so that the processor can read information from the readable storage medium and write information to the readable storage medium. Of course, the readable storage medium can also be an integral part of the processor. The processor and the readable storage medium can be located in an application specific integrated circuit (ASIC). Of course, the processor and the readable storage medium can also exist in a device as discrete components.

[0154] The division of units is merely a logical functional division; actual implementations may employ alternative divisions, such as combining or integrating multiple units or components into another system, or omitting or disabling certain features. Furthermore, any direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection between devices or units, either through an interface, electrical, mechanical, or other means.

[0155] Units described as separate components may or may not be physically separate, and components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected to achieve the purpose of this embodiment according to actual needs.

[0156] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0157] If the function is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the steps of the various embodiments of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, and other media that can store program code.

[0158] Those skilled in the art will appreciate that all or part of the steps in the above-described method embodiments can be implemented using hardware associated with program instructions. The aforementioned program can be stored in a computer-readable storage medium. When executed, the program performs the steps of the above-described method embodiments. The aforementioned storage medium includes various media capable of storing program code, such as ROM, RAM, magnetic disks, or optical disks.

[0159] Finally, it should be noted that those skilled in the art will readily identify other embodiments of the present invention after considering the specification and practicing the invention disclosed herein. The present invention is intended to cover any variations, uses, or adaptations of the present invention that follow the general principles of the present invention and include common knowledge or customary techniques in the art not disclosed herein. The present invention is not limited to the precise structure described above and illustrated in the accompanying drawings, and various modifications and variations may be made without departing from the scope thereof. The scope of the present invention is limited solely by the appended claims.

Claims

1. A method for locating a train carriage, characterized in that: The method comprises: When a train enters the yard area, obtain the train's vehicle identification and the task car identification of the pick-and-place task; Determining the number of carriages, carriage length, and carriage change length of the train according to the vehicle identification; Controlling the yard crane equipment to move along the track, and when identifying the first or last carriage of the train, determining the limit area of the train within the yard area based on the current position of the yard crane equipment, the length of the carriage, the number of carriages, and the length of the carriage change; As the field crane equipment moves, identifying a target carriage identifier of any carriage within the limit area; When the target carriage identifier and the task carriage identifier are the same, the target position of the task carriage corresponding to the target carriage identifier is determined.

2. The method according to claim 1, characterized in that Determining the target position of the carriage corresponding to the target carriage identifier includes: Determine a first relative position of the carriage corresponding to the target carriage identifier relative to the field bridge equipment; Acquiring a second relative position of the yard crane equipment relative to the yard area; The target position is determined according to the first relative position and the second relative position.

3. The method according to claim 1, characterized in that The method further comprises: Determine the estimated position interval of the task carriage according to the current position of the gantry crane equipment, the carriage length, the number of carriages, the carriage change length and the task carriage identifier; determining whether the target position is within the estimated position interval; If the target location is not within the estimated location interval, a prompt message is output, where the prompt message is used to prompt the user to check whether the positioning is correct.

4. The method according to any one of claims 1 to 3, characterized in that The method further comprises: Acquiring image data and a grab-and-release task instruction within the vehicle compartment at the target location; determining a task execution area based on the image data; In the task execution area, the pick-and-release task instruction is executed.

5. The method according to claim 4, characterized in that The method further comprises: After completing the grab and release task instruction, obtaining a new task carriage identifier; Determine the number of interval carriages and the moving direction according to the new task carriage identifier and the target carriage identifier; Determining a target length of movement according to the number of interval carriages, the carriage length, and the carriage change length; Controlling the field bridge equipment to move the target length along the track in the moving direction to reach a new target position corresponding to the new task carriage identifier; Execute a new pick-and-place task instruction at the new target location.

6. The method according to any one of claims 1 to 3, characterized in that The method further comprises: The target position and the target carriage identifier are sent to the cooperating field bridge equipment controller.

7. A device for locating the position of a train carriage, characterized in that: The device comprises: The acquisition module is used to obtain the train vehicle identification and the task car identification of the pick-and-place task when the train enters the yard area; a parameter determination module, for determining the number of carriages, carriage length, and carriage change length of the train according to the vehicle identification; An area determination module is used to control the movement of the yard crane equipment along the track. When the first or last carriage of the train is identified, the module determines the limit area of the train within the yard area based on the current position of the yard crane equipment, the length of the carriage, the number of carriages, and the length of the carriage change; An identification recognition module is used to identify the target carriage identification of any carriage within the limit area as the field crane equipment moves; The position determination module is used to determine the target position of the task carriage corresponding to the target carriage identifier when the target carriage identifier and the task carriage identifier are the same.

8. A controller, characterized in that: include: Memory, processor; The memory stores computer-executable instructions; The processor executes the computer-executable instructions stored in the memory, so that the processor performs the method according to any one of claims 1 to 6.

9. A field bridge, characterized in that: include: A field bridge body, a camera, a ranging sensor, a positioning device and a controller arranged on the field bridge body, wherein the controller is respectively connected to the camera, the positioning device and the ranging sensor, and the controller is used to execute the method according to any one of claims 1 to 6.

10. A computer-readable storage medium, characterized in that The computer-readable storage medium stores computer-executable instructions, which are used to implement the method according to any one of claims 1 to 6 when executed by a processor.

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