Tank car anti-collision traction system applied to mixing station and traction method of tank car anti-collision traction system

Abstract

The invention discloses a tank car anti-collision traction system applied to a mixing station and a traction method of the tank car anti-collision traction system. The data acquisition module is used for deploying a sensor array and acquiring the position, posture and surrounding environment information of the tank car in real time; the control box is electrically connected with the traction module and the data acquisition module, an inlet guide module, a fine adjustment module, a transmission control module and an emergency braking module are arranged in the control box, and the inlet guide module generates a laser alignment guide strategy to guide a tank car to drive onto the traction module; the fine adjustment module is used for transversely and finely adjusting the tank car to center the tank car; the conveying control module calculates coordinates of a discharging opening of an encapsulation area and the position of a feeding opening of the tank car, then a speed curve plan is made, and then the tank car is driven to move through a motor on the traction module; the emergency braking module performs emergency braking after detecting the obstacle, and the problems that in the prior art, a tank car driver only depends on visual judgment to reverse the car, the risk is high, and car collision is likely to happen are solved.

Description

Technical Field

[0001] The present invention relates to the technical field of tank truck anti-collision, and in particular to a tank truck anti-collision traction system and a traction method thereof applied to a mixing station. Background Art

[0002] In modern mixing plants, tank trucks, as critical transport equipment, frequently shuttle between the loading area and the loading station for material loading. This area is typically enclosed to improve efficiency and safety. However, this design also presents new challenges. The compact interior of the enclosure limits the reversing and forward paths of the tank truck when entering the loading area. This makes collisions with surrounding walls, high-speed conveyor belts, and supporting structure columns extremely likely, causing equipment damage or even accidents. Furthermore, the enclosed nature of the enclosure prevents direct access to the area for on-site guidance. Tank truck operation relies entirely on the driver's visual judgment, which has blind spots. Relying solely on personal experience is extremely risky. Furthermore, the complex and changing working environment of the mixing station, such as pervasive dust, intense mechanical vibration, and varying light levels due to the alternating day and night cycle, significantly interferes with the stability and accuracy of auxiliary tools such as reversing cameras, parking sensors, and rearview mirrors. Therefore, a collision avoidance and traction system specifically designed for tank trucks in mixing plants is urgently needed to effectively address these challenges. Summary of the Invention

[0003] An embodiment of the present invention provides a collision-avoidance traction system and traction method for a tank truck applied to a mixing station. By adding a traction module, the tank truck can be guided outside the mixing station entrance, initially parked on the traction module, and then centered by the fine-tuning module. The tank truck is transported to the unloading port of the encapsulation area using a conveyor track, and can return to the conveying outlet and leave after loading is completed. This solves the problem in the prior art that the tank truck driver relies solely on visual judgment to reverse, which is high-risk, and that environmental factors such as internal dust and mechanical vibration increase the risk of collision.

[0004] A tank truck anti-collision traction system used in a mixing plant, comprising: The traction module is installed at the entrance of the mixing station and is used to pull the tank truck into the station; Data acquisition module, used to deploy sensor arrays to obtain real-time information on the tanker's position, posture, and surrounding environment; The control box is electrically connected to the traction module and the data acquisition module respectively. The control box is provided with an entry guide module, a fine adjustment module, a transmission control module and an emergency brake module, wherein: The entrance guidance module generates a laser alignment guidance strategy to guide the tanker onto the traction module; The fine-tuning module is used to perform lateral fine-tuning to center the tank truck after the tank truck has completely entered the traction module; The conveying control module calculates the coordinates of the discharge port of the encapsulation area and the position of the tanker feed port, and then formulates a speed curve plan, and then drives the tanker to move through the motor on the traction module; The emergency braking module performs emergency braking after detecting an obstacle.

[0005] Furthermore, the traction module includes a slide and a conveying track. A bottom trough is dug below the entrance of the mixing station. There are several slides, which are linearly and equally divided at the bottom of the bottom trough. The conveying track includes a track frame, which is arranged on the top of several slides. Car conveyor belts are arranged at both ends of the track frame in the width direction. A second servo motor is provided on one side of the track frame. The second servo motor is used to control the operation of the car conveyor belt.

[0006] Furthermore, the slide includes a base plate, two transverse guide rails are arranged parallel to the two ends of the top length direction of the base plate, a screw rod is mounted at the middle position of the top of the base plate, a transmission block is movably arranged on the screw rod, the bottom of the track base is fixedly set on the transmission block, and a plurality of sliders are also provided on the track base, and the sliders are slidably set on the transverse guide rails, a first servo motor is provided on the base plate, and the output shaft of the first servo motor is connected to one end of the screw rod, and the forward and reverse rotation of the first servo motor causes the transmission track to offset along the width direction of the bottom groove, and the maximum offset distance is ±5cm.

[0007] Furthermore, a steel structure mounting frame is provided on the outside of the traction module, and the steel structure mounting frame extends from the outside of the entrance of the mixing station to the enclosed area.

[0008] Furthermore, the data acquisition module includes: A laser radar, including a plurality of laser radars, is installed on and covers the top of the steel structure mounting frame, and is used to scan the outline of the tank car, detect the alignment status of the tire and the track, and the offset of the car body; The UWB positioning units include a plurality of UWB positioning units, which are linearly and equally arranged on both sides of the steel structure mounting frame near the bottom and at the center of the tank truck chassis for real-time positioning of the tank truck coordinates; There are two infrared beam sensors, which are respectively arranged at the entrance and exit ends of the conveying track, and are used to detect that the tank car has completely entered the track area and trigger the subsequent fine-tuning module; A plurality of ultrasonic sensors are provided and are linearly and equally arranged on one side of the steel structure mounting frame near the bottom, for measuring the gap between the tank truck chassis and the conveying track; A weighing sensor is provided at the bottom of the slide and is used to monitor the load of the tank truck in real time, so as to facilitate the subsequent dynamic adjustment of the motor output torque on the traction module.

[0009] Furthermore, the entrance guidance module includes a laser emitter arranged above the steel structure mounting frame at the entrance. Based on the tank truck position data collected by the data acquisition unit, the lateral deviation between the tank truck and the center of the conveying track is calculated, and a cross laser line is projected to the front window of the tank truck cab through the laser emitter to prompt the driver to adjust the tank truck position. When the deviation value is less than the target threshold, the driver is prompted to stop.

[0010] Furthermore, the working steps of the fine-tuning module are as follows: Step 1: Triggering: The infrared beam sensor detects that the tank car has completely entered the track area, triggering the fine-tuning module to start; Step 2: Data collection: The LiDAR scans the tanker's outline to obtain the relative position of the tires and tracks, and the UWB positioning unit tracks the tanker's coordinates in real time. Step 3: Deviation calculation: Calculate the lateral deviation between the tank car and the center of the conveyor track; Step 4: Slide adjustment: According to the deviation value, control the slide to move horizontally to center the tank car; Step 5: Adjustment is completed. When the deviation value is less than the target threshold, the movement of the slide is stopped.

[0011] Furthermore, the transmission control module also includes a correction module, which includes lateral deviation detection and slide correction control; The lateral offset detection calculates the lateral deviation between the tank car and the center line of the conveyor track in real time based on the data of the UWB positioning unit; The slide correction control calculates the translation amount of the slide based on the lateral deviation value, thereby adjusting and controlling the motor on the slide to ensure the position of the tank truck.

[0012] In a second aspect, an embodiment of the present invention provides a tank truck anti-collision traction method applied to a mixing station, comprising the following steps: S1, the tank car stops. The driver stops the tank car at the center of the track according to the crosshairs projected by the laser transmitter on the front window of the cab; S2, fine-tuning trigger, the infrared radiation sensor detects that the tank car has completely entered the track area, triggering the fine-tuning module to start; S3, fine-tuning the tank car position: the laser radar scans the tank car outline and calculates the deviation between the tank car and the track center, and then controls the slide to move the conveyor track horizontally to center the tank car; S4, conveyor control, calculates the distance between the package discharge port and the tanker feed port, performs speed control planning, and thus adjusts the motor speed on the traction module in real time; S5, deviation control, adjusts the conveyor track in real time based on the deviation correction module, so that the tank car always remains centered; S6, after loading is completed, the path is replanned and the speed curve is adjusted according to the exit coordinates, the conveyor track is controlled to run in the reverse direction, and the tank truck is sent back to the exit and leaves.

[0013] The beneficial effects of the above technical solutions provided by the embodiments of the present invention include at least: The present invention adds a traction module to guide the tank truck outside the mixing station entrance, so that it is initially parked on the traction module. The fine-tuning module then further adjusts the position of the tank truck to center it, and uses the conveyor track to transport it to the unloading port of the encapsulation area. After loading is completed, it returns to the conveying outlet and leaves. This solution significantly improves the safety, efficiency and reliability of tank trucks in mixing station operations through multi-sensor fusion, automated control and intelligent decision-making; the full process automation of entrance guidance, conveying control and departure guidance reduces dependence on manual command and saves personnel scheduling.

[0014] Other features and advantages of the present invention will be described in the following description, and in part will become apparent from the description, or will be understood by practicing the present invention. The purposes and other advantages of the present invention can be realized and obtained by the structures particularly pointed out in the written description, claims, and drawings.

[0015] The technical solution of the present invention is further described in detail below through the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings: Figure 1 A schematic diagram of the overall structure disclosed in an embodiment of the present invention; Figure 2 Another perspective structural diagram of the overall embodiment of the present invention disclosed; Figure 3 This is a schematic structural diagram of a traction module disclosed in an embodiment of the present invention from another perspective; Figure 4 A schematic structural diagram of a slide disclosed in an embodiment of the present invention from another perspective; Figure 5 A communication block diagram disclosed in an embodiment of the present invention; Figure 6 This is a flow chart of the method disclosed in an embodiment of the present invention.

[0017] Reference numerals: 10. Traction module; 11. Slide; 1101. Base plate; 1102. Screw; 1103. First servo motor; 1104. Transmission block; 1105. Transverse guide rail; 1106. Slider; 12. Conveyor track; 1201. Track chassis; 1202. Conveyor belt; 1203. Second servo motor; 20. Steel structure mounting frame; 30. Data acquisition module; 31. LiDAR; 32. UWB positioning unit; 33. Infrared beam sensor; 34. Ultrasonic sensor; 35. Weighing sensor; 40. Control box; 41. Entrance guide module; 4101. Laser transmitter; 42. Fine-tuning module; 43. Conveyor control module; 4301. Error correction module; 44. Emergency brake module. DETAILED DESCRIPTION

[0018] Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments set forth herein. Rather, these embodiments are provided to enable a more thorough understanding of the present disclosure and to fully convey the scope of the present disclosure to those skilled in the art.

[0019] Example 1

[0020] like Figure 1-2 As shown, an embodiment of the present invention provides a tank truck anti-collision traction system applied to a mixing station, comprising a traction module 10, a data acquisition module 30 and a corresponding control box 40. After the tank truck driver drives and measures to the entrance of the mixing station, he is guided into the traction module 10 and the position of the tank truck is further adjusted to be centered by the traction module 10 in the control box 40. Then, the tank truck is pulled into the unloading port of the encapsulation area by the traction of the conveyor track 12 for loading. After loading is completed, the tank truck is sent out. The solution of the present invention calibrates the position of the tank truck in front of the entrance of the mixing station. After the calibration is completed, the conveyor track 12 provides movement, thereby solving the problem of poor vision for the tank truck driver in the narrow encapsulation area.

[0021] like Figure 1-4 As shown, the traction module 10 is arranged at the entrance of the mixing station and is used to pull the tank truck into the station.

[0022] Specifically, a bottom trough is dug below the entrance of the mixing station, wherein the traction module 10 includes a slide 11 and a conveying track 12. There are several slides 11, which are linearly and equally arranged at the bottom of the bottom trough. The conveying track 12 includes a track base 1201, which is arranged on the top of several slides 11. Car conveyor belts 1202 are arranged at both ends of the track base 1201 in the width direction. A second servo motor 1203 is provided on one side of the track base 1201. The second servo motor 1203 is used to control the operation of the car conveyor belt 1202.

[0023] Furthermore, the slide 11 includes a base plate 1101, two transverse guide rails 1105 are arranged parallel to the two ends of the top length direction of the base plate 1101, a screw rod 1102 is mounted at the middle position of the top of the base plate 1101, a transmission block 1104 is movably arranged on the screw rod 1102, the bottom of the track base 1201 is fixedly set on the transmission block 1104, and a number of sliders 1106 are also provided on the track base 1201, the sliders 1106 are slidably set on the transverse guide rails 1105, and a first servo motor 1103 is provided on the base plate 1101, and the output shaft of the first servo motor 1103 is connected together with one end of the screw rod 1102, that is, the forward and reverse rotation of the first servo motor 1103 of the several slides 11 causes the transmission track 12 above it to move along the width direction of the bottom groove.

[0024] It should be noted that when the slide 11 controls the transfer track to move along its width, the maximum offset distance on both sides is ±5 cm.

[0025] In this embodiment, a steel structure mounting frame 20 is provided on the outside of the traction module 10. The steel structure mounting frame 20 extends from the outside of the entrance of the mixing station to the enclosed area. The function of the steel structure mounting frame 20 is suitable for setting up relevant sensors to facilitate the installation of equipment in the data acquisition module 30.

[0026] As a preferred embodiment, the outer side of the steel structure mounting frame 20 is wrapped with tempered glass, which not only ensures light transmittance but also protects the internal data acquisition module 30 from being eroded by rain.

[0027] like Figure 4 As shown, the data acquisition module 30 includes a laser radar 31, a UWB positioning unit 32, an infrared radiation sensor 33, an ultrasonic sensor 34 and a weighing sensor (35), which are used to deploy a sensor array to obtain the position, posture and surrounding environment information of the tank truck in real time.

[0028] The specific installation locations are as follows: The laser radar 31, comprising a plurality of laser radars, is mounted on and covers the top of the steel structure mounting frame 20 and is used to scan the tanker's profile and detect the alignment of the tires and the track and the offset of the vehicle body; The UWB positioning units 32 include a plurality of UWB positioning units 32, which are linearly and equally arranged on both sides of the steel structure mounting frame 20 near the bottom and at the center of the tank truck chassis for real-time positioning of the tank truck coordinates; There are two infrared radiation sensors 33, which are respectively arranged at the entrance and exit ends of the conveying track 12. They have two functions: one is to detect that the tank car has completely entered the track area and trigger the subsequent fine-tuning module 42; the other is to trigger the emergency braking module 44 after detecting that a person or foreign object has entered the conveying track 12 area; There are several ultrasonic sensors 34, which are linearly and evenly arranged on one side of the steel structure mounting frame 20 near the bottom, and are used to measure the gap between the tank truck chassis and the conveying track 12; The weighing sensor (35) is arranged at the bottom of the slide 11 and is used to monitor the load of the tank truck in real time, so as to facilitate the subsequent dynamic adjustment of the motor output torque on the traction module 10.

[0029] In this embodiment, the control box 40 is electrically connected to the traction module 10 and the data acquisition module 30 respectively. The control box 40 is provided with an entrance guidance module 41, a fine-tuning module 42, a transmission control module 43 and an emergency braking module 44, through which the tank truck is guided and braked.

[0030] In this embodiment, the entrance guidance module 41 includes a laser emitter 4101 disposed above the steel structure mounting frame 20 at the entrance. Based on the tank truck position data collected by the data acquisition unit, the module calculates the lateral deviation between the tank truck and the center of the conveyor track 12. The laser emitter 4101 projects a cross laser line toward the front window of the tank truck cab to prompt the driver to adjust the tank truck position. When the deviation value is less than the target threshold, the driver is prompted to stop the truck. The steps for calculating the lateral deviation are as follows: 1. Through LiDAR 31 point cloud matching, extract the tanker tire point cloud and fit the tire centerline; 2. Calculate the lateral distance between the tire centerline and the track centerline; 3. Take the average value as the lateral deviation of the tank car; 4. Verification based on the UWB positioning unit 32; 5. Calculate the lateral deviation based on the tag coordinates of the UWB positioning unit 32 and the center line equation of the transmission track 12; 6. If the deviation difference between the laser radar 31 sensor and the UWB positioning unit 32 is greater than 10 cm, a sensor abnormality alarm is triggered.

[0031] In this embodiment, the fine-tuning module 42 is used to perform lateral fine-tuning after the tank truck has completely entered the traction module 10 to ensure that the tank truck remains centered and avoid collisions during subsequent transportation; The specific working steps of the fine-tuning module 42 are as follows: Step 1: triggering, the infrared radiation sensor 33 detects that the tank car has completely entered the track area, triggering the fine-tuning module 42 to start; Step 2: Data collection: the laser radar 31 scans the tanker's profile to obtain the relative position of the tires and tracks, and the UWB positioning unit 32 tracks the tanker's coordinates in real time; Step 3: Deviation value calculation, calculating the lateral deviation between the tank car and the center of the conveying track 12; Step 4: Adjust the slide 11. According to the deviation value, control the slide 11 to move horizontally to center the tank truck. Step 5: Adjustment is completed. When the deviation value is less than the target threshold, the movement of the slide 11 is stopped. It should be noted that the lateral deviation of the fine-tuning module 42 is calculated similarly to the lateral deviation of the entrance guiding module 41 .

[0032] Furthermore, the transport control module 43 calculates the coordinates of the discharge port of the encapsulation area and the position of the tanker feed port, and then formulates a speed curve plan. The motor on the traction module 10 then drives the tanker to move. Specifically: First define the coordinate system; Global coordinate system: The starting point of the mixing station entrance track is the origin, the track extension direction is the X axis, and the horizontal direction is the Y axis; Tank truck coordinate system: The center of the tank truck feed port is used as the reference point, and the target position is the center of the encapsulation area discharge port; Then calculate the straight-line distance between the tanker feed port and the encapsulation area discharge port; The conveying track 12 is a fixed path, and the tank car travels along the center line of the conveying track 12; The tank truck load is obtained in real time based on the load cell 35, and the safe braking distance is calculated based on the load and the friction coefficient; Dynamically adjust the transmission speed according to the load and formulate the speed curve plan, including acceleration, cruising and deceleration sections; The motor speed is adjusted based on the speed curve planning to realize the transportation of the tank truck.

[0033] In this embodiment, the transmission control module 43 further includes a deviation correction module 4301, which includes lateral deviation detection and deviation correction control of the slide 11; Lateral deviation detection, based on the data from the UWB positioning unit 32, calculates the lateral deviation between the tank car and the center line of the conveyor track 12 in real time; The correction control of the slide 11 calculates the translation amount of the slide 11 based on the lateral deviation value, thereby adjusting and controlling the motor on the slide 11 to ensure the position of the tank truck.

[0034] In this embodiment, the emergency braking module 44, that is, the data acquisition module 30, performs emergency braking after detecting an obstacle on one side, and stops the transportation of the tank truck to ensure work safety.

[0035] Example 2

[0036] The embodiment of the present invention also discloses a tank truck anti-collision traction method applied to a mixing station, such as Figure 2 , including the following steps: S1, the tank car stops. The driver stops the tank car at the center of the track according to the crosshairs projected by the laser transmitter 4101 on the front window of the cab; S2, fine-tuning trigger, the infrared radiation sensor 33 detects that the tank car has completely entered the track area, triggering the fine-tuning module 42 to start; S3, fine-tuning the tank car position: the laser radar 31 scans the tank car profile, calculates the deviation between the tank car and the track center, and then controls the slide 11 to move the conveyor track 12 horizontally to center the tank car; S4, conveying control, calculating the distance between the encapsulation discharge port and the tanker feed port, performing speed control planning, and thus adjusting the motor speed on the traction module 10 in real time; S5, deviation control, based on the deviation correction module 4301, real-time adjustment of the conveying track 12, so that the tank car always remains centered; S6, after the loading is completed, the path is re-planned and the speed curve is adjusted according to the exit coordinates, and the conveying track 12 is controlled to run in the reverse direction to send the tank car back to the exit and leave.

[0037] It should be understood that the specific order or hierarchy of steps in the disclosed processes is an example of an exemplary method. Based on design preferences, it should be understood that the specific order or hierarchy of steps in the process can be rearranged without departing from the scope of the present disclosure. The accompanying method claims present elements of the various steps in an exemplary order and are not intended to be limited to the specific order or hierarchy described.

[0038] In the foregoing detailed description, various features are grouped together in a single embodiment to simplify the disclosure. This method of disclosure should not be interpreted as reflecting an intention that embodiments of the claimed subject matter require more features than are expressly recited in each claim. On the contrary, as reflected in the appended claims, the invention comprises less than all the features of any individual disclosed embodiment. The appended claims are therefore hereby expressly incorporated into the detailed description, with each claim standing on its own as a separate preferred embodiment of the invention.

[0039] Those skilled in the art will also appreciate that the various illustrative logic blocks, modules, circuits, and algorithmic steps described in conjunction with the embodiments herein may be implemented as electronic hardware, computer software, or a combination thereof. In order to clearly illustrate the interchangeability between hardware and software, the various illustrative components, blocks, modules, circuits, and steps described above are generally described around their functions. Whether such functions are implemented as hardware or software depends on the specific application and the design constraints imposed on the entire system. A skilled person may implement the described functions in an adaptable manner for each specific application, but such implementation decisions should not be interpreted as departing from the scope of protection of this disclosure.

[0040] The steps of the methods or algorithms described in conjunction with the embodiments herein may be directly embodied as hardware, software modules executed by a processor, or a combination thereof. The software module may be located in a RAM memory, flash memory, ROM memory, EPROM memory, EEPROM memory, register, hard disk, removable disk, CD-ROM, or any other form of storage medium well known in the art. An exemplary storage medium is connected to the processor so that the processor can read information from the storage medium and write information to the storage medium. Of course, the storage medium may also be an integral part of the processor. The processor and storage medium may be located in an ASIC. The ASIC may be located in a user terminal. Of course, the processor and storage medium may also be present in a user terminal as discrete components.

[0041] For software implementation, the techniques described in this application can be implemented using modules (e.g., procedures, functions, etc.) that perform the functions described in this application. These software codes can be stored in a memory unit and executed by a processor. The memory unit can be implemented within the processor or external to the processor. In the latter case, it is communicatively coupled to the processor via various means, which are well known in the art.

[0042] The foregoing description includes examples of one or more embodiments. Of course, it is not possible to describe all possible combinations of components or methods for the purposes of describing the above embodiments, but one of ordinary skill in the art will recognize that the various embodiments may be further combined and arranged. Therefore, the embodiments described herein are intended to encompass all such changes, modifications and variations that fall within the scope of the appended claims. Furthermore, to the extent the term "comprising" is used in the specification or claims, the term is intended to be encompassed in a manner similar to the term "including," as explained in terms of "including," used as a transitional word in the claims. Furthermore, any use of the term "or" in the specification of the claims is intended to mean a "non-exclusive or."

Claims

1. A tank truck anti-collision traction system used in a mixing station, characterized in that: include: A traction module (10) is provided at the entrance of the mixing station and is used to pull the tank truck into the station; A data acquisition module (30) is used to deploy a sensor array to obtain the tanker's position, posture, and surrounding environment information in real time; A control box (40) is electrically connected to the traction module (10) and the data acquisition module (30), and an entry guide module (41), a fine adjustment module (42), a transmission control module (43) and an emergency brake module (44) are provided in the control box (40), wherein: The entrance guidance module (41) generates a laser alignment guidance strategy to guide the tanker to enter the traction module (10); The fine-tuning module (42) is used to perform lateral fine-tuning to center the tank truck after the tank truck completely enters the traction module (10); The transmission control module (43) calculates the coordinates of the discharge port of the encapsulation area and the position of the tanker feed port, and then formulates a speed curve plan, and then drives the tanker to move through the motor on the traction module (10); The emergency braking module (44) performs emergency braking after detecting an obstacle.

2. The anti-collision traction system for tank trucks used in a mixing plant according to claim 1, characterized in that: The traction module (10) includes a slide (11) and a conveying track (12). A bottom trough is dug below the entrance of the mixing station. There are a plurality of slides (11) which are linearly and equally arranged at the bottom of the bottom trough. The conveying track (12) includes a track base (1201). The track base (1201) is arranged on the top of the plurality of slides (11). Car conveyor belts (1202) are arranged at both ends of the track base (1201) in the width direction. A second servo motor (1203) is arranged on one side of the track base (1201). The second servo motor (1203) is used to control the operation of the car conveyor belt (1202).

3. The anti-collision traction system for tank trucks used in a mixing plant according to claim 2, characterized in that: The slide (11) includes a base plate (1101), two transverse guide rails (1105) are arranged in parallel at both ends of the top length direction of the base plate (1101), a screw rod (1102) is mounted at the middle position of the top of the base plate (1101), a transmission block (1104) is movably arranged on the screw rod (1102), the bottom of the track base frame (1201) is fixedly arranged on the transmission block (1104), and a plurality of sliders (1106) are further arranged on the track base frame (1201), the sliders (1106) are slidably arranged on the transverse guide rails (1105), a first servo motor (1103) is arranged on the base plate (1101), the output shaft of the first servo motor (1103) is connected to one end of the screw rod (1102), and the plurality of first servo motors (1103) rotate forward and reverse to cause the transmission track (12) to deviate along the width direction of the bottom groove, and the maximum deviation distance is ±5 cm.

4. The anti-collision traction system for tank trucks used in a mixing plant according to claim 3, characterized in that: A steel structure mounting frame (20) is provided on the outside of the traction module (10), and the steel structure mounting frame (20) extends from the outside of the entrance of the mixing station to the enclosed area.

5. The anti-collision traction system for tank trucks used in a mixing plant according to claim 4, characterized in that: The data acquisition module (30) includes: Laser radars (31), comprising a plurality of laser radars, installed on and covering the top of the steel structure mounting frame (20), for scanning the tanker's profile, detecting the alignment of the tires and the track, and the offset of the vehicle body; UWB positioning units (32), comprising a plurality of units, which are linearly and equally arranged on both sides of the steel structure mounting frame (20) near the bottom and at the center of the tank truck chassis, and are used for real-time positioning of the tank truck coordinates; There are two infrared radiation sensors (33), which are respectively arranged at the entrance and exit ends of the conveying track (12) and are used to detect that the tank car has completely entered the track area and trigger the subsequent fine-tuning module (42); A plurality of ultrasonic sensors (34) are provided and are linearly and equally spaced on one side of the steel structure mounting frame (20) near the bottom, for measuring the gap between the tank truck chassis and the conveying track (12); A weighing sensor (35) is provided at the bottom of the slide (11) and is used to monitor the load of the tank truck in real time, thereby facilitating the subsequent dynamic adjustment of the motor output torque on the traction module (10).

6. The anti-collision traction system for tank trucks used in a mixing plant according to claim 4, characterized in that: The entrance guidance module (41) includes a laser emitter (4101) arranged above the steel structure mounting frame (20) at the entrance. Based on the tank truck position data collected by the data acquisition unit, the lateral deviation between the tank truck and the center of the conveying track (12) is calculated, and a cross laser line is projected to the front window of the tank truck cab through the laser emitter (4101) to prompt the driver to adjust the tank truck position. When the deviation value is less than the target threshold, the driver is prompted to stop the car.

7. The anti-collision traction system for tank trucks used in a mixing plant according to claim 1, characterized in that: The working steps of the fine-tuning module (42) are as follows: Step 1: triggering, the infrared radiation sensor (33) detects that the tank car has completely entered the track area, and triggers the fine-tuning module (42) to start; Step 2: Data collection: the laser radar (31) scans the tanker's profile to obtain the relative position of the tire and the track, and the UWB positioning unit (32) tracks the tanker's coordinates in real time; Step 3, deviation value calculation, calculating the lateral deviation between the tank car and the center of the conveying track (12); Step 4: adjusting the slide (11). According to the deviation value, the slide (11) is controlled to move horizontally so that the tank car is centered. Step 5: Adjustment is completed. When the deviation value is less than the target threshold, the movement of the slide (11) is stopped.

8. The anti-collision traction system for tank trucks used in a mixing plant according to claim 5, characterized in that: The transmission control module (43) further includes a deviation correction module (4301), wherein the deviation correction module (4301) includes lateral deviation detection and slide (11) deviation correction control; The lateral deviation detection is based on the data of the UWB positioning unit to calculate the lateral deviation between the tank car and the center line of the conveying track (12) in real time; The slide (11) deviation correction control calculates the translation amount of the slide (11) based on the lateral deviation value, thereby adjusting and controlling the motor on the slide (11) to ensure the position of the tank truck.

9. A method for anti-collision traction of a tank truck used in a mixing station, using the anti-collision traction system for a tank truck used in a mixing station as claimed in any one of claims 1 to 8, characterized in that: The following steps are involved: S1, the tank car stops, and the driver stops the tank car at the center of the track according to the crosshair indication projected by the laser transmitter (4101) on the front window of the cab; S2, fine-tuning trigger, the infrared radiation sensor (33) detects that the tank car has completely entered the track area, triggering the fine-tuning module (42) to start; S3, fine-tuning the position of the tank car, the laser radar (31) scans the outline of the tank car, calculates the deviation between the tank car and the center of the track, and then controls the slide (11) to move the conveying track (12) horizontally to center the tank car; S4, transmission control, calculates the distance between the package discharge port and the tanker feed port, performs speed control planning, and thereby adjusts the motor speed on the traction module (10) in real time; S5, deviation control, adjusting the conveying track (12) in real time based on the deviation correction module (4301), so that the tank car always remains centered; S6, after the loading is completed, the path is re-planned and the speed curve is adjusted according to the exit coordinates, and the conveying track (12) is controlled to run in the reverse direction to send the tank car back to the exit and leave.

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