Train positioning and charging system based on video stitching technology and control method thereof

Abstract

The invention discloses a train positioning and loading system based on the video stitching technology and a control method thereof.The train positioning and loading system comprises a train, a stock bin, a camera, a weighing level gage, an electric unloading gate and an electric control system, the stock bin is arranged above the train, the camera is arranged between the train and the stock bin, and the weighing level gage is arranged above the electric unloading gate; the weighing level gage and the electric discharging gate are arranged at the lower part of the stock bin; the camera, the weighing level gage and the electric discharging gate are electrically connected with the electric control system through control cables. The system has the beneficial effects that the complete image of the carriage is obtained by utilizing the electric control system through the visual identification and video stitching technology, the charging amount is monitored in real time and the electric discharging gate is automatically controlled to be started and stopped in combination with the weighing level gage, the fine control of the charging weight and volume, the positioning of the train carriage and the identification of the charging volume are realized, and finally manual work is replaced; the maximization of the loading material quantity is realized, the loading efficiency is greatly improved, and the production benefits of enterprises are increased.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of train positioning and loading technology, in particular to a train positioning and loading system based on video stitching technology and a control method thereof. BACKGROUND

[0002] In industrial production, silos are often used to store and transfer solid materials to ensure the continuity of production. The silo unloading can be transported by train. Compared with other transportation methods, train transportation has many advantages such as economy, efficiency and reliability. However, some problems have also arisen in practical application.

[0003] The requirements for loading the train car in train transportation are relatively strict, both the weight and the volume cannot exceed the limit, which requires fine control of train loading. At present, the conventional way is to install a track scale under the track to detect the weight of the train car loading. Moreover, for economic considerations, only one set of track scale is generally installed under the first silo. The subsequent carriages can only be loaded with a part of the material by experience first, then the train is driven, and the first silo is sequentially filled with material. This greatly reduces the efficiency of train loading.

[0004] At the same time, in order to meet the volume requirements of loading, it is also necessary to position the relative position of the carriage and the silo unloading port and monitor the loading condition of the carriage. Usually, the video image of the camera under the silo is used for manual judgment. However, the space under the silo is generally narrow, the visibility is insufficient, and the camera can only collect partial images of the carriage. The positioning and loading condition of the train carriage can only be judged by experience, which seriously affects the accuracy and efficiency.

[0005] A train fast loading station can also be used to realize related functions, but its cost is relatively high, and it requires a certain installation space. It is difficult to realize related modification for the existing silo unloading train loading system.

[0006] A train car loading and unloading control method, device and equipment are disclosed in the prior art with publication number CN202410739076.X, which uses a crown block for train loading. However, this technical solution does not combine video stitching technology with the application scenario of multiple silos unloading in parallel, cannot adapt to the modification needs of the existing silo system, cannot realize the synchronous monitoring of carriage positioning and loading volume through panoramic images, is difficult to meet the dual precise control of weight and volume in the process of continuous loading of multiple carriages, and cannot take into account the improvement of modification economy and loading efficiency. SUMMARY

[0007] In order to overcome the problems of low loading efficiency, inaccurate positioning, insufficient control precision of loading weight and volume, and high modification cost of the traditional train loading system, the present application provides a train positioning and loading system based on video stitching technology and a control method thereof.

[0008] The technical scheme adopted by the present application to achieve the above-mentioned purpose is: comprising a train, a stock bin, a camera, a weighing stock level meter, an electric unloading gate and an electric control system, the stock bin is arranged above the train, the camera is arranged between the train and the stock bin, and the weighing stock level meter and the electric unloading gate are both arranged at the lower part of the stock bin; the camera, the weighing stock level meter and the electric unloading gate are respectively electrically connected with the electric control system through control cables.

[0009] Preferably, a plurality of stock bins are arranged side by side along the running direction of the train, and a plurality of cameras are arranged side by side along the running direction of the train according to the visual distance, and the images collected by the cameras include all the carriages of the train.

[0010] Preferably, the electric control system collects complete images of all the carriages of the train by using visual recognition and video splicing technology through a plurality of cameras.

[0011] Preferably, the electric control system monitors the amount of material in each stock bin in real time through each weighing stock level meter.

[0012] Preferably, the electric control system realizes the start-stop control of the stock bin unloading by controlling the opening and closing of the electric unloading gate.

[0013] Preferably, at least two stock bins are arranged above each carriage of the train, and each carriage and all the stock bins above it form an independent loading group, and the electric control system calculates the weight, controls the gate and adjusts the uniformity of loading for each loading group.

[0014] Preferably, a display screen is arranged above the side of the train cab, and the display screen is electrically connected with the electric control system through control cables, and the electric control system displays the position state of the train and the opening and closing state of the electric unloading gate in real time through the display screen.

[0015] Preferably, the display screen also synchronously displays the remaining amount of material in each stock bin, the real-time loading weight and volume proportion of the carriage.

[0016] Preferably, the train driver observes the information displayed on the display screen and drives the train to run or stop according to the production operation procedures.

[0017] The control method of the train positioning and loading system based on video splicing technology comprises the following steps: S1, system startup; S2, using visual recognition and video splicing technology to identify whether there is a train at the lower part of the stock bin, if the result is yes, continue to execute S3, if the result is no, repeat S2; S3, using visual recognition and video splicing technology to identify the distance between the current position of the train and the best loading position; S4, judging whether the train is stopped at the best loading position, if yes, continue to execute S5, if no, jump to S13; S5, controlling the electric unloading gate to open; S6, calculating the change of the bunker weight W0=W1-W2, wherein W1 is the historical value of the bunker weight, and W2 is the current value of the bunker weight; S7, updating the historical value of the bunker weight W1=W2; S8, calculating the current value of the train carriage loading weight W4=W3+W0, wherein W3 is the historical value of the train carriage loading weight; S9, judging whether the current value of the train carriage loading weight W4 reaches the best loading weight, if yes, jump to S11, if no, jump to S10; S10, judging whether the train carriage reaches the best loading volume by using the visual recognition and video splicing technology, if yes, jump to S11, if no, jump to S13; S11, controlling the electric unloading gate to close; S12, updating the historical value of the train carriage loading weight W3=W4; S13, the display screen displays the distance between the current position of the train and the best loading position, and displays the opening and closing state of the electric unloading gate.

[0018] The beneficial effects of the present application are that the complete image of the carriage is obtained by using the electric control system through the visual recognition and video splicing technology, the loading amount is monitored in real time by combining the load cell, the electric unloading gate is automatically controlled to start and stop, the fine control of the loading weight and volume, the positioning of the train carriage, and the recognition of the loading volume are realized, the manual work is replaced, the maximum loading amount of the train carriage is realized under the condition that the weight and volume of the material of the train carriage do not exceed the limit, and the loading efficiency is greatly improved, and the production benefit of the enterprise is increased. BRIEF DESCRIPTION OF DRAWINGS

[0019] Figure 1 It is a structural schematic view of the train positioning and loading system based on the video splicing technology of the present application; Figure 2 It is a control method flow chart of the train positioning and loading system based on the video splicing technology of the present application.

[0020] In the figure: 1, train; 2, bunker; 3, camera; 4, load cell; 5, electric unloading gate; 6, display screen. DETAILED DESCRIPTION

[0021] It should be noted that the embodiments in the present application and the features in the embodiments can be combined with each other without conflict. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0022] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit the present invention or its application or use. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0023] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the scope of exemplary embodiments according to the invention. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0024] Example 1: As Figure 1 As shown, this embodiment provides a train positioning and loading system based on video stitching technology, including a train 1 and several hoppers 2 arranged side by side above the train 1 along the direction of train 1's operation; Above the train 1 and below the hopper 2, along the direction of train 1, several cameras 3 are set up side by side according to the line of sight. The images captured by all the cameras 3 can cover all the carriages of the train 1. Each of the hoppers 2 is equipped with a weighing level gauge 4 at its lower part; Each hopper 2 is equipped with an electric unloading gate 5 below it; A display screen 6 is installed above the driver's cab of train 1; The camera 3, the weighing level gauge 4, the electric unloading gate 5, and the display screen 6 are electrically connected to the electrical control system via control cables. The electronic control system uses several cameras 3 to capture complete images of all carriages of train 1 through visual recognition and video stitching technology. The electronic control system monitors the amount of material in each silo 2 in real time through each weighing level gauge 4; The electrical control system controls the start and stop of material discharge from the hopper 2 by controlling the switch of the electric unloading gate 5. The electrical control system displays the real-time position status of train 1 and the opening / closing status of electric unloading gate 5 via display screen 6. The train driver observes the information displayed on screen 6 and drives the train 1 to move or stop according to the production operation procedures.

[0025] Example 2: AsFigure 2 The embodiment shown is based on the previous embodiment, and differs from the previous embodiment in that the train positioning and control method of the loading system based on video stitching technology comprises the following steps: S1, system starts; S2, using visual recognition and video stitching technology to identify whether there is a train 1 under the bunker 2, if the result is yes, continue to execute S3, if the result is no, repeat S2; S3, using visual recognition and video stitching technology to identify the distance between the current position of the train 1 and the optimal loading position; S4, determine whether the train 1 is parked at the optimal loading position, if the result is yes, continue to execute S5, if the result is no, jump to S13; S5, control the electric discharge gate 5 to open; S6, calculate the weight change W0=W1-W2 of the bunker 2, where W1 is the historical value of the weight of the bunker 2, and W2 is the current value of the weight of the bunker 2; S7, update the historical value of the weight of the bunker 2 W1=W2; S8, calculate the current value of the loading weight of the train 1 car W4=W3+W0, where W3 is the historical value of the loading weight of the train 1 car; S9, determine whether the current value of the loading weight of the train 1 car W4 reaches the optimal loading weight, if the result is yes, jump to S11, if the result is no, jump to S10; S10, using visual recognition and video stitching technology to determine whether the train car has reached the optimal loading volume, if the result is yes, jump to S11, if the result is no, jump to S13; S11, control the electric discharge gate 5 to close; S12, update the historical value of the loading weight of the train 1 car W3=W4; S13, the display screen 6 displays the distance between the current position of the train 1 and the optimal loading position, and the opening and closing state of the electric discharge gate 5.

[0026] Note: Each train 1 car usually corresponds to multiple bunkers 2 for loading, and when the above control method is used, grouping is used for separate calculation and control.

[0027] The above is only a preferred specific embodiment of the present application, but the protection scope of the present application is not limited thereto, such as the number of cameras, any person skilled in the art within the scope of the present application can make equivalent substitutions or changes according to the technical solution and concept of the present application, which should be covered within the protection scope of the present application.

Claims

1. A train positioning and loading system based on video stitching technology, characterized in that: The system includes a train (1), a silo (2), a camera (3), a weighing level gauge (4), an electric unloading gate (5), and an electrical control system. The silo (2) is located above the train (1), the camera (3) is located between the train (1) and the silo (2), and the weighing level gauge (4) and the electric unloading gate (5) are both located at the bottom of the silo (2). The camera (3), the weighing level gauge (4), and the electric unloading gate (5) are electrically connected to the electrical control system via control cables.

2. The train positioning and loading system based on video stitching technology according to claim 1, characterized in that: The hoppers (2) are arranged side by side along the direction of train (1), and the cameras (3) are arranged side by side along the direction of train (1) according to the viewing distance. The images captured by the cameras (3) include all carriages of the train (1).

3. The train positioning and loading system based on video stitching technology according to claim 1, characterized in that: The electronic control system uses several cameras (3) and employs visual recognition and video stitching technology to collect complete images of all carriages of the train (1).

4. The train positioning and loading system based on video stitching technology according to claim 1, characterized in that: The electronic control system monitors the amount of material in each silo (2) in real time through each weighing level gauge (4).

5. The train positioning and loading system based on video stitching technology according to claim 1, characterized in that: The electrical control system controls the start and stop of material discharge from the hopper (2) by controlling the switch of the electric unloading gate (5).

6. The train positioning and loading system based on video stitching technology according to claim 1, characterized in that: The train (1) has at least two silos (2) above each carriage. Each carriage and all the silos (2) above it form an independent loading group. The electrical control system performs weight calculation, gate control and loading uniformity adjustment for each loading group.

7. The train positioning and loading system based on video stitching technology according to claim 1, characterized in that: The train (1) has a display screen (6) above the driver's cab on one side. The display screen (6) is electrically connected to the electronic control system via a control cable. The electronic control system displays the position status of the train (1) and the opening and closing status of the electric unloading gate (5) in real time through the display screen (6).

8. The train positioning and loading system based on video stitching technology according to claim 7, characterized in that: The display screen (6) also displays the remaining material quantity of each hopper (2), the real-time loading weight of the carriage, and the volume ratio in real time.

9. The train positioning and loading system based on video stitching technology according to claim 7, characterized in that: The train driver observes the information displayed on the screen (6) and drives the train (1) to move or stop according to the production operation procedures.

10. A control method for a train positioning and loading system based on video stitching technology as described in any one of claims 1 to 9, characterized in that: Includes the following steps: S1. System startup; S2. Use visual recognition and video splicing technology to identify whether there is a train (1) under the silo (2). If the result is yes, continue to execute S3. If the result is no, repeat S2. S3. Using visual recognition and video splicing technology, the distance between the current position of the train (1) and the optimal loading position is identified; S4. Determine whether the train (1) has stopped at the optimal loading position. If the result is yes, continue to execute S5. If the result is no, jump to S13. S5. Control the electric unloading gate (5) to open; S6. Calculate the weight change of silo (2) W0=W1-W2, where W1 is the historical weight of silo (2) and W2 is the current weight of silo (2); S7. Update the historical weight value of hopper (2) W1=W2; S8. Calculate the current value of the loading weight of the train (1) car body W4 = W3 + W0, where W3 is the historical value of the loading weight of the train (1) car body; S9. Determine whether the current value W4 of the loading weight of the train (1) car has reached the optimal loading weight. If the result is yes, jump to S11; if the result is no, jump to S10. S10. Use visual recognition and video splicing technology to determine whether the train car has reached the optimal loading volume. If the result is yes, jump to S11; if the result is no, jump to S13. S11, Control the electric unloading gate (5) to close; S12. Update the historical value of the loading weight of the train (1) car body W3=W4; S13. The display screen (6) shows the distance between the current position of the train (1) and the optimal loading position, and shows the opening and closing status of the electric unloading gate (5).

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