Locating method, device, controller and yard crane for train carriage position
By acquiring vehicle and task car identification when a train enters the yard, controlling the movement of yard crane equipment to identify the cars, determining the limit area and confirming the position, the problem of low train car positioning efficiency in the prior art is solved, and efficient container operations are achieved.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- SANY MARINE HEAVY INDUSTRY CO LTD
- Filing Date
- 2025-06-13
- Publication Date
- 2026-07-24
AI Technical Summary
In existing technologies, the method of collecting a large amount of sensor data to create a train carriage location map results in low operational efficiency and makes it difficult to achieve efficient train carriage positioning.
When a train enters the yard area, the vehicle identification and task car identification are acquired, the yard crane equipment is controlled to move along the track, the first or last car is identified, the limit area range is determined according to the length and number of cars, the target car identification is then identified, and the car position is confirmed through image recognition and estimated position interval, and the grabbing and releasing task is executed.
This method enables blind positioning without the need to construct vehicle cloud maps, improving the efficiency and accuracy of train carriage positioning, avoiding identification errors, and ensuring efficient container operations.
Smart Images
Figure CN120423331B_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of container loading and unloading technology, and in particular to a method, device, controller and yard crane for locating the position of a train carriage. Background Technology
[0002] In modern railway transportation and yard management, the introduction of automation systems is key to improving operational efficiency and accuracy. This is especially true in railway freight transport, where operations include the rapid unloading, stacking, and redistribution of freight cars. To efficiently accomplish these tasks, positioning systems are essential for the accurate identification and location of railway freight cars.
[0003] Currently, to achieve automated operations, sensors are typically used to create a position map of each carriage of the entire train for precise location. However, this method of creating position maps by collecting large amounts of sensor data results in low operational efficiency.
[0004] Therefore, improving the positioning efficiency of working train carriages is an urgent problem to be solved. Summary of the Invention
[0005] This application provides a method, device, controller, and yard crane for locating the position of train carriages, which can improve the positioning efficiency of working train carriages.
[0006] In a first aspect, this application provides a method for locating the position of a train carriage, the method comprising:
[0007] When the train enters the yard area, obtain the train's vehicle identification and the task car identification for the grabbing and releasing mission;
[0008] Based on the vehicle identification, determine the number of carriages, carriage length, and carriage cross-section of the train;
[0009] The control yard bridge equipment moves along the track. When the first or last car of the train is detected, the limit area range of the train in the yard area is determined based on the current position of the yard bridge equipment, the length of the car, the number of cars, and the length of the car.
[0010] As the yard crane equipment moves, the target car identification of any car within the extreme area is identified;
[0011] When the target carriage identifier and the mission carriage identifier are the same, the target location of the mission carriage corresponding to the target carriage identifier is determined.
[0012] Optionally, determining the target location of the carriage corresponding to the target carriage identifier includes:
[0013] Determine the first relative position of the car corresponding to the target car identification relative to the yard crane equipment;
[0014] Obtain the second relative position of the yard crane equipment relative to the yard area;
[0015] The target position is determined based on the first relative position and the second relative position.
[0016] Optionally, the method further includes:
[0017] Based on the current position of the yard crane equipment, the length of the carriage, the number of carriages, the length change of the carriage, and the identification of the task carriage, determine the estimated position range of the task carriage;
[0018] Determine whether the target location is within the estimated location range;
[0019] If the target location is not within the estimated location range, a prompt message is output to remind the user to check if the location is correct.
[0020] Optionally, the method further includes:
[0021] Acquire image data and capture / release command for the interior of the carriage at the target location;
[0022] Based on the image data, the task execution area is determined;
[0023] The capture and release task instruction is executed within the task execution area.
[0024] Optionally, the method further includes:
[0025] After completing the capture and release task instruction, obtain the new task car identifier;
[0026] Based on the new mission car identification and the target car identification, determine the number of interval cars and the direction of movement;
[0027] The target length to be moved is determined based on the number of interval carriages, the length of the carriages, and the length of the carriages.
[0028] Control the yard bridge equipment to move along the track in the moving direction by the target length, and reach the new target position corresponding to the new task car identifier;
[0029] Execute a new capture and release command at the new target location.
[0030] Optionally, the method further includes:
[0031] The target location and the target carriage identifier are sent to the yard crane equipment controller for collaborative operation.
[0032] Secondly, this application provides a positioning device for a train carriage, the device comprising:
[0033] The acquisition module is used to acquire the vehicle identification of the train and the task car identification of the grabbing and releasing task when the train enters the yard area.
[0034] The parameter determination module is used to determine the number of carriages, carriage length, and carriage cross length of the train based on the vehicle identification.
[0035] The area determination module is used to control the movement of the yard crane equipment along the track. When the first or last car of the train is detected, the module determines the limit area range of the train in the yard area based on the current position of the yard crane equipment, the length of the car, the number of cars, and the length of the car.
[0036] The identification module is used to identify the target car identification of any car within the extreme area as the yard crane equipment moves.
[0037] The location determination module is used to determine the target location of the task car corresponding to the target car identifier when the target car identifier and the task car identifier are the same.
[0038] Thirdly, this application provides a controller, including: a memory and a processor;
[0039] The memory stores computer-executed instructions;
[0040] The processor executes computer execution instructions stored in the memory, causing the processor to perform the method as described in any of the first aspects.
[0041] Fourthly, this application provides a yard crane device, comprising: a yard crane device body, a camera, a ranging sensor, a positioning device, and a controller disposed on the yard crane device body, wherein the controller is connected to the camera, the positioning device, and the ranging sensor respectively, and the controller is used to perform the method as described in any of the first aspects.
[0042] Fifthly, this application provides a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, are used to implement the method as described in any of the first aspects.
[0043] In a sixth aspect, embodiments of this application provide a computer program product, including a computer program that, when executed by a processor, implements the method described in any of the first aspects above.
[0044] This application provides a method, device, controller, and yard crane for locating train carriages. The method includes: acquiring the train's vehicle identification and the task carriage identification for the handling task when the train enters the yard area; determining the number of train carriages, carriage length, and carriage reversal length based on the vehicle identification; controlling the yard crane equipment to move along the track; when the first or last carriage of the train is identified, determining the extreme zone range of the train within the yard area based on the current position of the yard crane equipment, carriage length, number of carriages, and carriage reversal length; as the yard crane equipment moves, identifying the target carriage identification of any carriage within the extreme zone; 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. This method uses blind positioning for the initial identification of the working carriage, eliminating the need for additional vehicle cloud map construction, simplifying operation, and improving the efficiency of container loading and unloading. Attached Figure Description
[0045] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.
[0046] Figure 1 A flowchart illustrating a method for locating the position of a train carriage provided in this application. Figure 1 ;
[0047] Figure 2 A flowchart illustrating a method for locating the position of a train carriage provided in this application. Figure 2 ;
[0048] Figure 3 A flowchart illustrating the container operations provided for this application;
[0049] Figure 4 A schematic diagram of the container inside the carriage provided in this application;
[0050] Figure 5 Provided for this application is a schematic diagram of three yard cranes at the right-hand yard head;
[0051] Figure 6 A schematic diagram showing the three yard cranes provided in this application dispersed in the yard;
[0052] Figure 7 A schematic diagram of a positioning device for a train carriage provided in this application;
[0053] Figure 8 A schematic diagram of the structure of the electronic device provided in this application.
[0054] The accompanying drawings illustrate specific embodiments of this application, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the concept in any way, but rather to illustrate the concept of this application to those skilled in the art through reference to particular embodiments. Detailed Implementation
[0055] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.
[0056] In automated operations at railway yards, the position and sequence of train cars must be accurately identified to precisely schedule container loading. Some automated operations use fixed sensors at the yard entrance to locate the first train car and then all other cars. However, due to variations in the number of cars, length, and constantly changing positions of the train, it's impossible to pinpoint the exact first car. To improve accuracy, some automated operations use numerous sensors to create a point cloud map of the train's location to determine each car. However, this method of creating the location map is time-consuming, resulting in low operational efficiency.
[0057] In view of this, this application provides a method for locating train carriages. After the train enters the yard area, the control yard crane moves to locate the first or last carriage of the train. Once located, the location range of the carriage requiring work is determined based on the located position. The search for the task carriage continues, and when the task carriage is found, its location is reconfirmed to ensure it meets the requirements. This method enables blind positioning, eliminates the need for pre-built maps, and improves both recognition accuracy and operational efficiency.
[0058] The technical solution of this application and how the technical solution of this application solves the above-mentioned technical problems are described in detail below with specific embodiments. These specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments. The embodiments of this application will now be described with reference to the accompanying drawings.
[0059] Figure 1 A flowchart illustrating a method for locating the position of a train carriage provided in this application. Figure 1 The method includes the following steps:
[0060] S101. When a train enters the yard area, obtain the train's vehicle identification and the task car identification for the grabbing and releasing task.
[0061] In this step, the controller of the container yard crane equipment, or the main controller of the automated loading and unloading system, pre-stores information about each train, including: how many cars are on each train, how many containers can be loaded on each car, and the specific container cargo. The controller associates the train's vehicle identification with the train information.
[0062] Train entry is detected in real time at the yard entrance using sensors, cameras, or other automated equipment. When a train is detected entering the yard area, the sensors capture the train's vehicle identification number (VIN). This VIN is a unique identifier for the train, such as its train number. The sensors then transmit the VIN to the controller of the yard crane equipment.
[0063] Based on the vehicle identification number, the controller can retrieve detailed train information associated with it. The controller can also retrieve the corresponding specific grabbing and releasing task, which may include grabbing a container in the task car or placing a container on the task car.
[0064] S102. Determine the number of train carriages, carriage length, and carriage cross-section based on vehicle markings.
[0065] After identifying the vehicle, determine the number of carriages, carriage length, and the length difference between carriages from the vehicle's detailed information.
[0066] S103. Control the movement of the yard bridge equipment along the track. When the first or last car of the train is detected, determine the limit area range of the train in the yard area based on the current position of the yard bridge equipment, the length of the car, the number of cars, and the length of the car.
[0067] The entire stockpile may be several kilometers long, and the train parking positions are not fixed. The yard crane equipment can be parked at a preset initial position, such as the beginning or end of the stockpile. Alternatively, the yard crane equipment can be parked at the position of the last grabbing and releasing task after the task is completed, without a preset parking position. To accurately determine the train's parking position, the yard crane equipment is controlled to move along the track for blind positioning.
[0068] In one implementation, the yard crane equipment at the head of the yard moves towards the tail of the yard.
[0069] In one implementation, the yard crane equipment at the tail of the yard is moved toward the head of the yard.
[0070] In one implementation, for a yard crane in the middle of the yard, the position to grab a container is determined according to the grabbing and releasing task, and the crane moves in the direction of that position.
[0071] Cameras or ranging sensors (such as radar sensors, 3D laser scanners, etc.) are installed on the main beam or trolley of the yard crane to identify whether a train is present on the track below. As the yard crane moves, when a train is detected, it further identifies whether the train carriage appearing in the field of view is the first or the last carriage. The presence of the locomotive allows for differentiation between the first and last carriages. Upon detecting either the first or last carriage, the current position of the yard crane is obtained. This current position is in the yard coordinate system; using the same coordinate system facilitates accurate positioning.
[0072] Upon identifying the first and last carriages, the limit area of the entire train can be determined. This limit area represents the search range for the working carriages by the yard crane equipment. Specifically, the train length can be determined based on the carriage length, number of carriages, and carriage length conversion. The limit area is defined as the distance between the current position and the current position, plus the train length.
[0073] S104. As the yard crane equipment moves, identify the target car identification of any car within the extreme area.
[0074] To distinguish different carriages, carriage markings are usually painted on the outside of the carriages. As the yard crane equipment continues to move, cameras capture the target carriage markings at the current location, such as the number on the carriage.
[0075] S105. When the target car identification and the mission car identification are the same, determine the target location of the mission car corresponding to the target car identification.
[0076] Compare the target car markings and the task car markings to confirm they match. After marking match, determine the relative position of the task car to be operated relative to the yard area. Measure the first relative position between the target car and the yard crane equipment using a laser scanner. Determine the second relative position of the yard crane equipment relative to the yard area using a global positioning system (such as GPS) or positioning sensors within the yard. Add the coordinates of the first and second relative positions or perform vector calculations to obtain the target position of the task car.
[0077] This embodiment provides a method for locating train carriages. The method includes: acquiring the train's vehicle identification and the task carriage identification for the loading / unloading task when the train enters the yard area; determining the number of carriages, carriage length, and carriage reversal length based on the vehicle identification; controlling the yard crane equipment to move along the track; when the first or last carriage of the train is identified, determining the train's limit area range within the yard area based on the current position of the yard crane equipment, carriage length, number of carriages, and carriage reversal length; as the yard crane equipment moves, identifying the target carriage identification for 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. This method uses blind positioning for the initial identification of the task carriage, eliminating the need for additional vehicle cloud mapping, simplifying operation, and improving the efficiency of container loading and unloading. Furthermore, identification within the limit area avoids continuously moving and identifying incorrect task carriage identifications, thus limiting the identification area.
[0078] Once the target car's identification matches the task car's identification, operations can commence on that car. However, the identification of the target car's identification is based on image recognition, which can lead to errors. Therefore, to improve operational accuracy, a secondary verification of the task car is performed after identification matching.
[0079] Figure 2 A flowchart illustrating a method for locating the position of a train carriage provided in this application. Figure 2 ,like Figure 2 As shown, it includes the following steps:
[0080] S201. Based on the current position of the first carriage of the train, the length of the carriage, the number of carriages, the length change of the carriage, and the identification of the task carriage, the estimated position range of the task carriage is determined by the yard crane equipment.
[0081] When the yard crane equipment identifies the first carriage of a train, it estimates the location range of the task car based on the current position. Based on the train's detailed information, it determines the carriage length, number of carriages, and the minimum transfer length between carriages. This detailed information includes carriage specifications, i.e., the length of each carriage, the number of carriages per car, and the minimum transfer length between carriages. Based on the task car's identification, it determines the number of carriages between the current location and the nearest identification. Based on the current position, the estimated location range of the task car can be determined.
[0082] For example, the yard crane equipment identifies the first carriage of the train, with the current position being (500, 0). The task carriage is identified as the 5th carriage. Therefore, the task carriage is 4-5 carriages away from the current position. The length of each carriage is 20 meters, with a minimum length of 2 meters. The estimated position range of the task carriage is (588, 0) - (610, 0).
[0083] S202. Determine whether the target location is within the estimated location range.
[0084] The system compares the target location with the estimated location range to determine whether the target carriage is within the range. If the target location is within the estimated location range, it indicates that the image recognition result is likely accurate and the carriage location is confirmed. If the target location is not within the estimated range, the system considers there to be a possible recognition error or positioning problem.
[0085] S203. If the target location is not within the estimated location range, output a prompt message to remind the user to check if the location is correct.
[0086] If the target location is found to be outside the estimated location range, it indicates a possible error in image recognition or a deviation in the estimation of the carriage's location. In this case, the system will output a prompt message to the user, suggesting that the positioning be checked for accuracy.
[0087] After receiving the notification message, users can correct the recognition error by manually checking or adjusting the parameters of the image recognition algorithm, rescanning the marker, or checking the position of the yard bridge equipment.
[0088] This embodiment compares the image recognition with the estimated position range of the task car to ensure accurate recognition and avoid operational errors caused by image recognition mistakes, thereby improving the accuracy and reliability of the operation.
[0089] After determining the target location, the operation instructions need to be executed to grab or drop the box.
[0090] Figure 3 The flowchart of container operations provided for this application is as follows: Figure 3 As shown, it includes the following steps:
[0091] S301. Acquire image data and capture / release command for the carriage at the target location.
[0092] Image data of the target compartment is acquired through cameras or other image acquisition devices (such as laser scanners, infrared sensors, etc.). After determining the target location, the yard crane controller obtains specific grabbing and releasing task instructions related to the task from the task management system or control system. These instructions include either a grabbing task or a releasing task. If it is a grabbing task, the grabbing and releasing task instructions also include the container identifier or grabbing location.
[0093] Figure 4 The schematic diagram of the container inside the carriage provided in this application is as follows: Figure 4 As shown, assuming a maximum of 4 containers can be placed in a carriage, there are several situations in which the carriage may not be full of containers.
[0094] S302. Determine the task execution area based on the image data.
[0095] In one implementation of the container grabbing task, the container identifier in the image data is identified and matched with the identifier of the container to be grabbed to determine the matching area.
[0096] In one implementation of the container grabbing task, the location of the container in the image data is identified, and the area corresponding to the container to be grabbed is determined based on the grabbing location.
[0097] In one implementation of a container placement task, empty spaces in the container are identified in the image data and used as the execution area to perform the placement task. Alternatively, the execution area can be determined based on the position specified in the grab-and-place task instruction.
[0098] S303. Execute the capture and release task command within the task execution area.
[0099] Once the task execution area is determined, the yard crane equipment will begin performing the grabbing and placing task. Specifically, based on the target area and grabbing / placing instructions, precise control is achieved through preset control algorithms (PID control, model predictive control, etc.) to ensure stability and accuracy when grabbing or placing containers.
[0100] This embodiment describes how to carry out container operations after determining the target location, relying on the cooperation 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 acquires a new task car identifier. Based on the new task car identifier and the target car identifier, the controller determines the number of cars in intervals and the direction of movement. Then, by determining the location of the first car identifier using the yard crane equipment, the direction of the new task car identifier relative to the target car identifier can be determined. For example, if the determined first car identifier is the identifier of the last car of the train, and the train has 20 cars, the previous task car identifier was the 5th car, and the new task car identifier is the 10th car, then the location of the first car identifier will be used as the direction of movement. In this example, the number of cars in intervals is 5. Based on the number of cars in intervals, car length, and car reversal length, the target length of movement is determined. Specifically, the car length is added to the car reversal length, and then multiplied by the number of cars to obtain the target length. The yard crane equipment is then moved along the track in the direction of movement for the target length to reach the new target position corresponding to the new task car identifier; at the new target position, a new grab / release command is executed.
[0102] When performing operations in the aforementioned new task carriages, the operations can be carried out based on the yard crane equipment used in the previous operation, or they can be carried out using other yard crane equipment.
[0103] In scenarios where operations are conducted using other yard crane equipment, these other equipment may be closer to the new task car, or each yard crane may have its own operating area, and the new task car's operating area may be outside its range of motion. In this case, the controller of the yard crane equipment used in the previous operation sends the target location and target car identifier to the controller of the yard crane equipment used in the collaborative operation.
[0104] The following example illustrates how to position a train carriage.
[0105] Figure 5 A schematic diagram of three yard cranes at the right-hand yard head is provided for this application. (See attached diagram.) Figure 5 As shown in the upper center, the yard bridge equipment includes three yard bridges: G1, G2, and G3. S1, S2, and S3 are the train carriages that need to be operated.
[0106] Step 1: G3 is located on the side closest to the yard. The host computer sends a task to G3 based on the location of the yard crane equipment and the boundary position of the entire train.
[0107] Step 2: The G3 moving vehicle simultaneously initiates the identification of the wagon number and position, and sends the wagon position, along with the wagon number and relative yard location information, to the host computer in real time. The host computer updates the initial train position based on the received wagon number verification and wagon position.
[0108] Step 3: When moving to S3, the host computer receives a matching wagon number and a task wagon number, confirming that this location is the task location. This determines the working position S3 of equipment G3.
[0109] For unscanned carriage location information, calculations are performed based on the current location and the next task when the carriage operation is completed.
[0110] Step 4: During the process of finding S3 in G3, the carriage numbers (e.g., S1, S2) are scanned. Therefore, the operation positions of G1 and G2 are also known. G1 corresponds to S1, and G2 corresponds to S2.
[0111] Figure 6 A schematic diagram showing the three yard cranes provided in this application distributed across the storage yard. (See diagram below.) Figure 6 As shown in the upper center, the yard crane equipment includes three cranes: G1, G2, and G3. S1, S2, and S3 represent the train carriages requiring operation. When the yard crane equipment is distributed throughout the yard, any crane can be selected to identify the carriage number below it, thereby determining the location of that carriage, or the crane can be moved to locate the first carriage. After determining any carriage number, the location of the carriage to be handled is determined.
[0112] Step 1: The host computer selects the corresponding device G3 according to the working direction, calculates the boundary position of the task carriage number S3 based on the information of the entire train, and sends the task to device G3.
[0113] Step 2: The G3 trolley of the equipment starts moving, and at the same time, the equipment's container number recognition system is activated to identify the container number. The identified container number and the position relative to the yard location information are sent to the host computer in real time. The host computer updates the position based on the received container number and container position.
[0114] Step 3: When the carriage number received by the host computer matches the task carriage number, the working position S3 of equipment G3 is determined.
[0115] Step 4: After G3 finds the location of S3, the host computer sends a task to devices G2 and G1 based on the identified car body location as the starting position, and repeats the above method of G3 finding S3 to perform positioning.
[0116] Figure 7 This application provides a structural schematic diagram of a positioning device for a train carriage, as shown below. Figure 7 As shown, the positioning device 70 for the train carriage includes:
[0117] The acquisition module 701 is used to acquire the vehicle identification of the train and the task car identification of the grabbing and releasing task when the train enters the yard area.
[0118] The parameter determination module 702 is used to determine the number of carriages, carriage length, and carriage cross length of the train based on the vehicle identification.
[0119] The area determination module 703 is used to control the yard crane equipment to move along the track. When the first or last car of the train is identified, the extreme area range of the train in the yard area is determined according to the current position of the yard crane equipment, the length of the car, the number of cars and the length of the car.
[0120] The identification module 704 is used to identify the target car identification of any car within the extreme area as the yard crane equipment moves.
[0121] The location determination module 705 is used to determine the target location 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 position determination module 705 is specifically used for:
[0123] Determine the first relative position of the car corresponding to the target car identification relative to the yard crane equipment;
[0124] Obtain the second relative position of the yard crane equipment relative to the yard area;
[0125] The target position is determined based on the first relative position and the second relative position.
[0126] Optionally, the region determination module 703 is further configured to:
[0127] Based on the current position of the yard crane equipment, the length of the carriage, the number of carriages, the length change of the carriage, and the identification of the task carriage, determine the estimated position range of the task carriage;
[0128] Determine whether the target location is within the estimated location range;
[0129] If the target location is not within the estimated location range, a prompt message is output to remind the user to check if the location is correct.
[0130] Optionally, the device also includes an execution module 706, specifically used for:
[0131] Acquire image data and capture / release command for the interior of the carriage at the target location;
[0132] Based on the image data, the task execution area is determined;
[0133] The capture and release task instruction is executed within the task execution area.
[0134] Optional,
[0135] The acquisition module 701 is also used to acquire a new task carriage identifier after completing the capture and release task instruction;
[0136] The position determination module 705 is also used for:
[0137] Based on the new mission car identification and the target car identification, determine the number of interval cars and the direction of movement;
[0138] The target length to be moved is determined based on the number of interval carriages, the length of the carriages, and the length of the carriages.
[0139] Control the yard bridge equipment to move along the track in the moving direction by the target length, and reach the new target position corresponding to the new task car identifier;
[0140] The execution module 706 is also used to execute new capture and release task instructions at the new target location.
[0141] Optionally, the device also includes a sending module for sending the target location and the target car identifier to the yard crane equipment controller for collaborative operation.
[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 effect are similar, and will not be described in detail here.
[0143] Figure 8 This is a schematic diagram of the electronic device provided in this application. The electronic device can be a controller for a field bridge device or a host computer controller. For example... 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, memory 502, and communication component 503 are connected via a bus 504.
[0144] In a specific implementation, at least one processor 501 executes computer execution instructions stored in memory 502, causing at least one processor 501 to perform the above-described method.
[0145] The specific implementation process of processor 501 can be found in the above method embodiments, and its implementation principle and technical effect are similar. It will not be repeated here.
[0146] In the above embodiments, it should be understood that the processor can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), etc. The general-purpose processor can be a microprocessor or any conventional processor. The steps of the method disclosed in this invention can be directly implemented by a hardware processor, or implemented by a combination of hardware and software modules within the processor.
[0147] The memory may include random access memory (RAM) and may also include non-volatile memory (NVM), such as at least one disk storage device.
[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, etc. Buses can be categorized as address buses, data buses, control buses, etc. For ease of illustration, the buses shown in the accompanying drawings are not limited to a single bus or a single type of bus.
[0149] This application also provides a computer program product, including a computer program that, when executed by a processor, implements the above-described method.
[0150] This application also provides a yard crane device, including: a yard crane device body, a camera, a ranging sensor, a positioning device and a controller disposed on the yard crane device body, the controller being connected to the camera, the positioning device and the ranging sensor respectively, and the controller being used to perform the method as described in any of the first aspects.
[0151] This application also provides a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, implement the above-described method.
[0152] The aforementioned readable storage medium can be implemented by any type of volatile or non-volatile storage 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 storage, flash memory, magnetic disk, or optical disk. The readable storage medium can be any available medium accessible to a general-purpose or special-purpose computer.
[0153] An exemplary readable storage medium is coupled to a processor, enabling the processor to read information from and write information to the readable storage medium. Of course, the readable storage medium can also be a component of the processor. The processor and the readable storage medium can reside in an Application Specific Integrated Circuit (ASIC). Alternatively, the processor and the readable storage medium can exist as discrete components in the device.
[0154] The division of units is merely a logical functional division; in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be indirect coupling or communication connection through some interfaces, devices, or units, and may be electrical, mechanical, or other forms.
[0155] The units described as separate components may or may not be physically separate. The 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 the units can be selected to achieve the purpose of this embodiment according to actual needs.
[0156] In addition, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.
[0157] If a function is implemented as 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 this invention, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of this invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.
[0158] Those skilled in the art will understand that all or part of the steps of the above-described method embodiments can be implemented by hardware related to 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; and 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 other embodiments of the invention will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This invention is intended to cover any variations, uses, or adaptations of the invention that follow the general principles of the invention and include common knowledge or customary techniques in the art not disclosed herein, and is not limited to the precise structures described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of the invention is limited only by the appended claims.
Claims
1. A method for locating the position of a train carriage, characterized in that, The method includes: When the train enters the yard area, obtain the train's vehicle identification and the task car identification for the grabbing and releasing mission; Based on the vehicle identification, determine the number of carriages, carriage length, and carriage cross-section of the train; The control yard bridge equipment moves along the track. When the first or last car of the train is detected, the limit area range of the train in the yard area is determined based on the current position of the yard bridge equipment, the length of the car, the number of cars, and the length of the car. As the yard crane equipment moves, the target car identification of any car within the extreme area is identified; When the target carriage identifier and the mission carriage identifier are the same, the target location of the mission carriage corresponding to the target carriage identifier is determined; Determining the target location of the carriage corresponding to the target carriage identifier includes: Determine the first relative position of the car corresponding to the target car identification relative to the yard crane equipment; Obtain the second relative position of the yard crane equipment relative to the yard area; The target position is determined based on the first relative position and the second relative position; The method further includes: Based on the current position of the yard crane equipment, the length of the carriage, the number of carriages, the length change of the carriage, and the identification of the task carriage, determine the estimated position range of the task carriage; Determine whether the target location is within the estimated location range; If the target location is not within the estimated location range, a prompt message is output to prompt the user to check whether the location is correct. The method further includes: Acquire image data and capture / release command for the interior of the carriage at the target location; Based on the image data, the task execution area is determined; Execute the grab-and-release task instruction within the task execution area; The method further includes: After completing the capture and release task instruction, obtain the new task car identifier; Based on the new mission car identification and the target car identification, determine the number of interval cars and the direction of movement; The target length to be moved is determined based on the number of interval carriages, the length of the carriages, and the length of the carriages. Control the yard bridge equipment to move along the track in the moving direction by the target length, and reach the new target position corresponding to the new task car identifier; Execute a new capture and release command at the new target location.
2. The method according to claim 1, characterized in that, The method further includes: The target location and the target carriage identifier are sent to the yard crane equipment controller for collaborative operation.
3. A positioning device for the position of a train carriage, characterized in that, The apparatus is used to perform the method according to claim 1 or 2, the apparatus comprising: The acquisition module is used to acquire the vehicle identification of the train and the task car identification of the grabbing and releasing task when the train enters the yard area. The parameter determination module is used to determine the number of carriages, carriage length, and carriage cross length of the train based on the vehicle identification. The area determination module is used to control the movement of the yard crane equipment along the track. When the first or last car of the train is detected, the module determines the limit area range of the train in the yard area based on the current position of the yard crane equipment, the length of the car, the number of cars, and the length of the car. The identification module is used to identify the target car identification of any car within the extreme area as the yard crane equipment moves. The location determination module is used to determine the target location of the task car corresponding to the target car identifier when the target car identifier and the task car identifier are the same.
4. A controller, characterized in that, include: Memory, processor; The memory stores computer-executed instructions; The processor executes computer execution instructions stored in the memory, causing the processor to perform the method as described in claim 1 or 2.
5. A field bridge, characterized in that, include: The equipment includes a main body of a bridge, a camera, a ranging sensor, a positioning device, and a controller mounted on the main body of the bridge. The controller is connected to the camera, the positioning device, and the ranging sensor, respectively, and is used to perform the method as described in claim 1 or 2.
6. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer-executable instructions, which, when executed by a processor, are used to implement the method as described in claim 1 or 2.