CN115806202A - Self-adaptive learning-based weighing hydraulic unloading device and turnover control system thereof - Google Patents
Self-adaptive learning-based weighing hydraulic unloading device and turnover control system thereof Download PDFInfo
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Abstract
The invention relates to the technical field of unloading devices, and provides a weighing hydraulic unloading device based on self-adaptive learning and a turnover control system thereof, wherein the device comprises a guide area, a weighing area and an unloading area which are sequentially connected, turnover plates are respectively arranged on the guide area, the weighing area and the unloading area, and every two adjacent turnover plates are movably connected through a hydraulic cylinder piston structure; the unloading area, the guiding area and the weighing area are separated and then weighed by the overturning control system through controlling the separation of the hydraulic cylinder piston; and obtaining an unloading energy supply strategy according to the weighing result self-adaptive learning, and unloading after controlling the turnover plate to be lifted. According to the invention, the weighing structure and the unloading structure are combined and are set as an integral measuring and unloading device, so that the weighing platform can be separated from or combined with the integral structure, the weighing accuracy can be ensured, and the overturning control of the device is realized by adopting an energy supply strategy of self-adaptive learning to obtain the action of the overturning plate, so that the power consumption and noise pollution of a system can be effectively reduced, and the energy conservation and emission reduction are realized.
Description
Technical Field
The invention relates to the technical field of unloading devices, in particular to a weighing hydraulic unloading device based on self-adaptive learning and a turnover control system thereof.
Background
The statements in this section merely provide background information related to the present disclosure and may not necessarily constitute prior art.
In recent years, the logistics industry rises rapidly, the total amount of bulk materials for automobile transportation, weighing and loading and unloading is always maintained in high-level operation, the bulk materials for automobile bulk transportation are always expanded in scale, and simultaneously higher level requirements on the weighing, loading and unloading level of the materials are continuously provided; at present, in most of warehouses, the gross weight of a truck is obtained by weighing the truck scale, then the truck is unloaded through a hydraulic turnover device, and finally the tare weight is obtained by weighing the truck scale, and then weighing and unloading are carried out. The traditional weighing and unloading process has a plurality of problems, two independent fields are needed for weighing and unloading, so that the field waste is caused, the working time is long, and the working efficiency is low; and part of trucks do not have the condition of self-carrying hydraulic turnover devices, the unloading needs to be carried out by a manual tool of a worker, the working environment is severe, safety guarantee is avoided, and dust pollution to the surrounding environment is serious.
Disclosure of Invention
The invention provides a weighing hydraulic unloading device based on adaptive learning and a turnover control system thereof, and provides an integrated device for measuring weight and unloading, which realizes automatic control of weighing and unloading based on machine vision and adaptive learning and improves the efficiency of weighing and unloading bulk material automobiles.
In order to achieve the purpose, the invention adopts the following technical scheme:
one or more embodiments provide a self-adaptive learning-based hydraulic unloading device capable of weighing, which comprises a guide area, a weighing area and an unloading area which are sequentially connected, wherein the guide area, the weighing area and the unloading area are respectively provided with turnover plates, and every two adjacent turnover plates are movably connected through a hydraulic cylinder piston structure;
the unloading area, the guiding area and the weighing area are separated and then weighed by the overturning control system through controlling the separation of the hydraulic cylinder piston structure; and obtaining an unloading energy supply strategy according to the weighing result self-adaptive learning, and unloading after controlling the turnover plate to be lifted.
But the turnover control system of hydraulic pressure device of unloading of weighing based on self-adaptation study includes acquisition unit and treater, the treater includes:
a data acquisition module: the turnover plate is configured to be used for acquiring license plate information and vehicle position information of a vehicle on the turnover plate;
the weighing control module: configured for controlling the separation of the guiding zone, the weighing zone and the unloading zone in response to a received separation instruction when the vehicle enters the roll-over panel and waits for weighing in the weighing zone, and controlling weighing after receiving the weighing instruction;
the self-adaptive unloading control module: the automatic unloading device is configured to respond to the received fit instruction after weighing is finished, control the fit of the guide area, the weighing area and the unloading area, obtain an unloading energy supply strategy through self-adaptive learning according to a weighing result, and further control the action of the turnover plate to unload.
Compared with the prior art, the invention has the following beneficial effects:
according to the invention, the weighing structure and the unloading structure are combined to form the integral measuring and unloading device, so that the weighing platform can be separated from or combined with the integral structure, the weighing precision can be ensured, the unloading area is arranged to solve the problems of low manual unloading operation efficiency, severe working environment, no safety guarantee and dust environmental pollution, the integral structure integrates the measuring and unloading functions, and the site waste can be avoided.
Meanwhile, automatic control operation of the device is realized by machine vision and adaptive learning, and the overturning control of the device is realized by an energy supply strategy for obtaining the action of the overturning plate by adaptive learning, so that the power consumption and the noise pollution of a system can be effectively reduced, and energy conservation and emission reduction are realized.
The advantages of the present invention, as well as additional aspects and advantages thereof, are described in detail in the following detailed description of illustrative embodiments.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description, serve to explain the invention and not to limit the invention.
Fig. 1 is a system block diagram of a roll-over control system of embodiment 1 of the present invention;
FIG. 2 is a schematic diagram of a first structure of a hydraulic unloading device capable of weighing based on adaptive learning according to embodiment 1 of the invention;
fig. 3 is a second structural diagram of a hydraulic unloading device capable of weighing based on adaptive learning according to embodiment 1 of the present invention;
FIG. 4 is a flowchart of image processing by the image acquisition processing apparatus according to embodiment 1 of the present invention;
FIG. 5 is a flowchart of the control process of the hydraulic unloading apparatus for weighing according to embodiment 1 of the present invention;
wherein: 1. a guide area, 2, a weighing area, 3, an unloading area, 4, a slot, 5, a hydraulic cylinder piston, 6, a platform base, 7, a guide plate, 8, a wheel baffle, 91 and a supporting top frame, 92, a supporting side frame 10, a first hydraulic lifting cylinder 11, an electronic level meter 12, a camera device 13, a display screen 14, an indicator light 15, a stop line 16 and a servo motor;
21. a weighing platform 22 and a weighing groove;
61. the hydraulic support comprises a foot pad 62, a base bottom plate 63, a first hydraulic oil cylinder mounting seat 64, a rotating shaft 65 and a bearing.
Detailed Description
The invention is further described with reference to the following figures and examples.
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the invention. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the invention. As used herein, the singular forms "a", "an", and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise. It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict. The embodiments will be described in detail below with reference to the accompanying drawings.
Example 1
In one or more technical solutions disclosed in the embodiments, as shown in fig. 1 to 5, a hydraulic unloading device capable of weighing based on adaptive learning includes a guiding area 1, a weighing area 2, and an unloading area 3, which are sequentially connected, wherein the guiding area 1, the weighing area 2, and the unloading area 3 are respectively provided with a turning plate, the guiding area 1, the weighing area 2, and the unloading area 3 are movably connected through a hydraulic cylinder piston structure, the guiding area 1, the weighing area 2, and the unloading area 3 are combined into a whole through the combination of the hydraulic cylinder piston structures, and the guiding area 1, the weighing area 2, and the unloading area 3 are separated through the separation of the hydraulic cylinder piston structures.
The unloading system also comprises a turnover control system, wherein the turnover control system is used for separating the unloading area 3, the guide area 1 and the weighing area 2 and then weighing the separated unloading area, the guide area and the weighing area by controlling the separation of a piston structure of the hydraulic cylinder; and obtaining an unloading energy supply strategy according to the weighing result self-adaptive learning, and unloading after controlling the turnover plate to be lifted.
In this embodiment, set up the overall structure who has weighing district 2 and unloading district 3, can realize weighing and unloading of bulk material vehicle simultaneously, set up to the structure that can divide into one piece simultaneously, can separate weighing district 2 when weighing, improved weight measurement's accuracy.
Optionally, the guiding area 1, the weighing area 2 and the unloading area 3 are respectively arranged as a turnover plate structure, and the turnover plates of the guiding area 1, the weighing area 2 and the unloading area 3 are arranged on the same platform base seat 6.
The length of the turnover plate is adapted to the length of most trucks as far as possible, the useless loss of the turnover plate in the turnover process is reduced, and the length of the turnover plate can be set as follows: the length of the turnover plate of the weighing area 2 is set to be 18m, the length of the turnover plate of the guide area 1 is set to be 1m, and the length of the turnover plate of the unloading area 3 is set to be 2m.
Optionally, the hydraulic cylinder piston structure includes a hydraulic cylinder piston slot 4, a connecting hydraulic cylinder, and a hydraulic cylinder piston 5, which are oppositely disposed, and the hydraulic cylinder piston 5 can freely move in the hydraulic cylinder piston slot 4 in a telescopic manner.
Specifically, in this embodiment, through the realization mode of hydraulic cylinder piston structure swing joint, the turnover plate in guide area 1 and unloading area 3 sets up hydraulic cylinder piston 5 in the cross section department of neighbouring weighing platform 21, and the position that the turnover plate in weighing area 2 corresponds hydraulic cylinder piston 5 sets up slot 4, sets up the blotter in slot 4, and the turnover plate of fixed three regions through the cooperation of hydraulic cylinder piston 5 and slot 4 makes the turnover plate in the operation of unloading of upset three region safety and stability.
During the use, when the freight train stops in weighing district 2, the returning face plate is in the horizontality, and the pneumatic cylinder piston 5 of guide area 1 and unloading district 3 withdraws from slot 4 of weighing platform 21, realizes weighing district 2 and breaks away from on the whole and weighs, and the pneumatic cylinder piston 5 of guide area 1 and unloading district 3 stretches into slot 4 of the returning face plate of weighing district 2 after weighing for three region closes as an organic whole.
In some possible embodiments, platform base mount 6 includes a foot rest 61, a base floor 62, a first hydraulic ram mount 63, and a wheel guard hydraulic ram mount.
Specifically, the pad feet 61 are installed at four corners of the base bottom plate 62, and the pad feet 61 are directly contacted with the ground for supporting the base bottom plate 62, in the present embodiment, the pad feet 61 include two front pad feet disposed at the front end of the platform base seat 6 adjacent to the unloading area 3 and two rear pad feet disposed at the rear end of the platform base seat 6 adjacent to the guide area 1.
According to the further technical scheme, the pad feet 61 are connected with the base bottom plate 62 through the rotating shaft bearing type adjusting device, so that the base bottom plate 62 can be adjusted up and down, leveling is realized, and the hydraulic turnover plate can stably work on uneven complex terrains.
Further, the pad foot 61 is connected to the turnover plate through the rotating shaft bearing type adjusting device, the pad foot 61 is connected with the bottom of the rotating shaft bearing type adjusting device, the upper rotating shaft part of the rotating shaft bearing type adjusting device is connected with the turnover plate, the pad foot 61 and the turnover plate are integrally connected, and the platform base seat 6 and the turnover plate are connected.
Specifically, the rotating shaft bearing type adjusting device comprises a bearing 65 and a rotating shaft 64, the bearing 65 is installed on the pad foot 61, the rotating shaft 64 is installed on the bearing 65, and the other end of the rotating shaft 64 is connected to the turnover plate, so that the platform base 6 is connected with the turnover plate.
Specifically, a first hydraulic cylinder mounting seat 63 is arranged on the rear foot pad and used for bearing and mounting a first hydraulic cylinder, and the first hydraulic cylinder is used for lifting the turnover plate of the weighing area 2.
Furthermore, in order to facilitate the pouring of the truck into the turnover plate or the leaving of the unloading device after the unloading is finished, a guide plate 7 is further arranged, and one end of the guide plate 7 is fixedly connected with the platform base 6.
Specifically, the guide plate 7 is wedge-shaped, and the upper end of the guide plate 7 is flush with the turnover plate of the guide area 1 and extends to the ground in an inclined manner; the guide plate 7 can also be provided with a reinforcing rib and a deceleration strip to ensure that the vehicle can safely enter and exit the turnover plate.
The returning face plate is used for bearing the weight of freight train and upset unloading operation, and the returning face plate in the district of unloading 3 is connected with platform base foundation 6 through pivot 64, and the returning face plate in guide district 1 is connected with the contact of guide board 7 of fixing at platform base foundation 6, and platform base foundation 6 is fixed subaerial through pad foot 61, and the weight of freight train partly can lead to weighing data deviation to ground through the transmission of platform base foundation 6, sets up the returning face plate into separable three region for avoiding this weight loss: a guiding zone 1 adjacent to the guiding plate 7, a weighing zone 2 in the middle of the turning plate and a discharge zone 3 adjacent to the discharge area.
In some embodiments, the weighing section 2 comprises a weighing table 21 and a weighing tank 22, wherein a load cell is arranged in the weighing tank 22, and the load cell is fixedly arranged on a base bottom plate 62 of the platform base seat 6.
The weighing platform 21 can be separated from the unloading area 3 and the guiding area 1, the weighing platform 21 is fixedly connected with the unloading area 3 and the guiding area 1 in pairs through hydraulic cylinder piston structures, the turnover plates of the guiding area 1 and the unloading area 3 are provided with connecting hydraulic cylinders and hydraulic cylinder pistons 5 at the cross sections adjacent to the weighing platform 21, the turnover plates of the weighing platform 21 are provided with hydraulic cylinder piston slots 4 at corresponding positions, cushion pads are arranged in the slots 4, and the turnover plates of three areas are fixed through the matching of the connecting hydraulic cylinders and the slots 4, so that the three areas of the turnover plates are safe and stable in turnover unloading operation; when the turnover plate is in a horizontal state, the truck is stopped in the weighing area 2, the pistons 5 of the hydraulic cylinders connected with the guide area 1 and the unloading area 3 are retracted from the slots 4 of the weighing platform 21, so that the weighing platform 21 is integrally separated from the turnover plate for weighing, and after weighing is finished, the hydraulic cylinder pistons 5 of the guide area 1 and the unloading area 3 extend into the slots 4 of the turnover plate of the weighing platform 21, so that the three areas are integrated.
According to the further technical scheme, the unloading area 3 is further provided with a wheel blocking plate 8 for supporting wheels of the vehicle in the unloading process and preventing the vehicle from sliding in the overturning process of the overturning plate.
Optionally, the factor of safety of fender wheel board 8 needs to be greater than the threshold value of setting for, and fender wheel board 8 sets up height 550mm in this embodiment, and width 600mm can adopt not less than 20mm thick Q235 steel sheet welding to form, and 8 factor of safety of fender wheel boards are as follows:
wherein ,
the yield strength of the wheel blocking plate is sigma, the maximum stress of the wheel blocking plate is sigma, and the safety coefficient of the wheel blocking plate is n, so that the wheel blocking plate 8 can be ensured not to deform basically, and the overturning operation safety of the unloader is ensured.
In some embodiments, the specific setting mode of the wheel blocking plate 8 is that the wheel blocking plate hole for extending and retracting the wheel blocking plate 8 is arranged on the overturning plate of the unloading area 3, the wheel blocking plate 8 penetrates through the wheel blocking plate hole of the overturning plate of the unloading area, the wheel blocking plate 8 is connected with a wheel blocking plate hydraulic cylinder, the end of a piston rod of the wheel blocking plate hydraulic cylinder is connected to the wheel blocking plate 8 to realize the up-and-down extension of the wheel blocking plate 8, the wheel blocking plate hydraulic cylinder is arranged on the base bottom plate 62 through the arranged wheel blocking plate hydraulic cylinder mounting seat, and the wheel blocking plate hydraulic cylinder is used for lifting and descending the wheel blocking plate 8 of the unloading area 3.
Optionally, a yellow stop line 15 is brushed at the junction of the turnover plate of the weighing area 2 and the unloading area 3 and at the junction of the weighing area 2 and the guiding area 1, so that whether the truck is parked in place in the weighing area 2 or not can be conveniently distinguished through image acquisition and processing.
For realizing the unloading function of the vehicle, the lifting device for connecting the turnover plate comprises a first hydraulic oil cylinder mounting seat 63, a support frame and a first hydraulic lifting oil cylinder 10, wherein the support frame is connected with the turnover plate, the first hydraulic lifting oil cylinder 10 is fixed on a pad foot 61 of the platform base seat 6 through the first hydraulic oil cylinder mounting seat 63, and the first hydraulic lifting oil cylinder 10 is connected with the support frame and drives the turnover plate to overturn through the support frame.
Specifically, the first hydraulic cylinder mounting base 63 is arranged on the rear foot pad and used for bearing the first mounting hydraulic cylinder 10, the bottom of the cylinder barrel of the first hydraulic lift cylinder 10 is mounted on the first hydraulic cylinder mounting base 63 on the rear foot pad of the platform base 6, and the first hydraulic lift cylinder 10 is used for lifting the turnover plate of the weighing area 2.
Alternatively, as shown in fig. 2 and 3, the supporting frame includes a supporting top frame 91 and a supporting side frame 92, the bottom of the supporting side frame 92 is rotatably connected to both sides of the roll-over plate, the top of the supporting side frame 92 is connected to the supporting top frame 91, and the supporting top frame 91 is connected to the end of the piston rod of the first hydraulic lift cylinder 10.
In a further technical scheme, as shown in fig. 1, the turnover control system comprises a data acquisition device, a control module, a power module, a driving indication device, a weighing device, a data server and a user terminal; the control module is respectively in communication connection with the data acquisition and processing device, the power module, the driving indicating device, the weighing device, the data server and the user terminal.
The power module is respectively connected with the first hydraulic lifting cylinder 10, the wheel blocking plate hydraulic cylinder and the connecting hydraulic cylinder on the turnover plate and used for providing hydraulic kinetic energy.
The oil cylinder is connected with the power module through a pipeline, the power module provides hydraulic power, and a piston rod in the oil cylinder stretches out and draws back, so that the turnover plate is driven to rise or fall, the catch wheel plate 8 rises or falls, and the piston 5 connected with the hydraulic cylinder extends out or retracts.
In some embodiments, the weighing device is used for receiving a weighing instruction sent by the control module and weighing the truck when the turnover plate is horizontal.
Optionally, the weighing device includes weighing sensor 23, terminal box and weighing arithmetic unit, and a plurality of weighing sensor 23 pass through the terminal box and connect the weighing arithmetic unit, and the arithmetic unit operation of weighing reachs weight data, sends weight data to control module.
In this embodiment, adopt 8 bridge type weighing sensor, gather 8 weighing sensor signals through the terminal box and send the arithmetic unit of weighing to obtain weight.
During the use, after the freight train pours into weighing district 2 of returning face plate into, the weighing device received the instruction of weighing that control module sent, starts weighing sensor, weighing arithmetic unit and weighs the freight train and obtains the freight train gross weight, and the returning face plate falls down the instruction of weighing that receiving control module sent and weighs the freight train and obtains the freight train tare weight after unloading, and the arithmetic unit of weighing obtains whole car goods weight according to gross weight and tare weight to send control module gross weight, tare and goods weight.
In some embodiments, the data acquisition and processing device comprises an acquisition unit, a preprocessing unit, a first analysis unit and a first communication unit;
the first communication unit is used for realizing the communication between the data acquisition and processing device and the control module.
Optionally, the acquisition unit includes a horizontal measurement and control unit and a camera 12.
The horizontal measurement and control unit is arranged on the turnover plate of the guide area 1 and used for detecting whether the turnover plate is horizontal or not and sending a horizontal signal of the turnover plate to the control module, and optionally, the horizontal measurement and control unit can adopt an electronic level meter 11.
The camera 12 is arranged at the junction of the guiding area 1, the weighing area 2 and the unloading area 3, and optionally, a network camera may be used.
In the embodiment, three network cameras are arranged, one of the three network cameras is arranged above the supporting top frame 91, and the camera faces the guide plate 7 and is used for collecting a truck reversing image and a truck advancing image; one is arranged on the side surface of the turnover plate, and the camera is over against a yellow stop line 15 between the unloading area 3 and the weighing area 2 and is used for acquiring a relationship image between rear wheels and the stop line; one is arranged on the side surface of the turnover plate, and the camera is over against a yellow stop line 15 between the weighing area 2 and the guide area 1 and is used for acquiring images of the relation between the front wheels and the stop line.
The camera device 12 collects a license plate image, a truck backing image and a relationship image between rear wheels and a stop line in the process of pouring a truck into the turnover plate, and collects a truck forward image and a relationship image between front wheels and the stop line in the process of driving the truck out of the unloading area 3;
and the preprocessing unit is used for preprocessing the vehicle action image on the turnover plate acquired by the acquisition unit.
The pretreatment comprises the following steps: the image graying, binaryzation, median filtering, noise interference removal and the like can enable the target identification and detection of the first analysis unit to be more accurate through preprocessing.
Specifically, the image binarization processing highlights a detected target contour by threshold segmentation, and a specific algorithm is as follows:
wherein x, y represent the position information of the pixel point,
the gray value of the pixel point of the original image is represented,
and expressing the gray value of the pixel point after threshold segmentation and updating. Traversing pixel points of the whole image, and when the gray value is less than or equal toAnd updating the gray value of the pixel point to be 0 at the threshold T, and keeping the original gray value unchanged when the gray value is greater than the threshold T.
Median filtering, namely setting the gray value of each pixel point as the median of the gray values of all the pixel points in a certain neighborhood window of the point to play a role in obviously denoising images, wherein a filtering model is as follows:
wherein x and y represent position information of pixel points, the model selects a rectangle with a filtering window size (2L + 1),
and D, calculating a gray value sequence of the pixel points of the point window, wherein Med is a median of the gray value sequence, and the median is used for replacing the gray value of the original pixel point to finish median filtering.
Further, the preprocessing unit further comprises an enhancement processing module: if the illumination data collected by the illumination sensing unit is lower than a preset value I, the preprocessing unit firstly performs night image enhancement processing on the original image by using a contrast-limited self-adaptive histogram equalization method, and then performs the preprocessing on the image after the enhancement.
The contrast-limited adaptive histogram equalization method limits the enhancement amplitude of local contrast by limiting the height of a local histogram, so as to limit the amplification of noise and the over-enhancement of the local contrast, and the method for enhancing an image by adopting the contrast-limited adaptive histogram equalization method comprises the following steps:
defining the contrast enhancement amplitude as the slope of a gray scale mapping function, and assuming that the size of a sliding window of the adaptive histogram equalization method is M × M, the local mapping function is:
wherein ,CDF(i)is the cumulative distribution function of the sliding window local histogram.
Cumulative distribution functionCDF(i)OfNumber histogramHist(i)Thereby locally mapping a functionm(i)The slope S of (A) is:
limiting the histogram height is equivalent to limiting the mapping functionm(i)And thus limits the contrast enhancement.
If the maximum slope is defined as Smax, the maximum histogram height allowed is:
the histogram with height greater than Hmax should be cut off of the excess, and finally, the improved histogram values are:
wherein L is a set value.
And the first analysis unit is configured to extract a moving target by adopting a background subtraction method based on a Gaussian mixture model according to the received preprocessed truck backing image and truck forward image, and determine whether the vehicle enters or leaves the turnover plate.
Because the operation background of the unloader is fixed, the moving target is extracted by adopting a background subtraction method which is applicable to a static background and based on a Gaussian mixture model, the efficiency of extracting the moving target can be improved, and when the moving target of the truck is detected to appear or the moving target of the truck is detected to disappear, a vehicle board entering signal and a vehicle board leaving signal are sent to the control module.
And the first analysis unit is also configured to perform license plate recognition on the received preprocessed image.
The license plate recognition method comprises the following steps:
(1.1) carrying out a template matching-based character segmentation method on the license plate image to realize license plate segmentation;
(1.2) carrying out character recognition on the segmented characters by adopting a character recognition method based on template matching;
and (1.3) combining the characters in sequence to form license plate information and sending the license plate information to the control module.
And the first analysis unit is also configured to identify the position of the vehicle according to the received wheel and stop line relation image.
The vehicle position identification method comprises the following steps:
(2.1) receiving a wheel and stop line relation image, and extracting the position of a stop line 15 in the image by adopting a Snake model algorithm and a Hough transformation algorithm;
specifically, a yellow stop line 15 between the turnover plate unloading area 3 and the weighing area 2 is extracted, the yellow stop line 15 between the guide area 1 and the weighing area 2 is extracted, the stop line profile is detected by adopting Snake model algorithm image segmentation, and the position of the stop line 15 in the image is accurately detected by adopting Hough transformation algorithm to extract the mathematical characteristics of the stop line.
And (2.2) extracting a moving target based on a background subtraction method of a Gaussian mixture model for the received wheel and stop line relation image, calculating the distance between the tire and the stop line 15 for the detected tire moving target, and sending a stop instruction to the control module when the distance is smaller than the set distance.
Specifically, as the acquired wheel-stop line relation image background is fixed, a background subtraction method based on a Gaussian mixture model and suitable for a static background is adopted to extract a moving target, once the moving target of the tire is detected, the distance between the tire and the stop line 15 is calculated according to the image magnification, and if the distance is less than or equal to 50cm, a stop instruction is sent to the control module.
The driving indicating device comprises an indicating lamp 14 or/and a display screen 13, and the indicating lamp 14 is controlled to change or the display screen 13 is controlled to display corresponding information according to the received parking instruction and driving instruction sent by the control module.
If a parking instruction is received, the green light of the indicator lamp 14 arranged on the platform base 6 and adjacent to the guide plate 7 is turned off, the red light is turned on, the truck driver stops backing and waits for weighing when seeing that the red light is turned on, if a driving instruction is heard, the red light of the indicator lamp 14 arranged on the platform base 6 and adjacent to the guide plate 7 is turned off, the green light is turned on, and the truck driver continues backing or advancing when seeing that the green light is turned on;
in some embodiments, the control module comprises a second analysis unit, an adaptive power supply library and a second communication unit; the second analysis unit is configured to execute weighing and unloading control, the self-adaptive energy supply library stores information corresponding to weight and energy supply strategies, and the second communication unit is used for realizing communication between the control module and other units.
The data processing method of the first analysis unit and the data processing method of the second analysis unit can be carried out in the same processor, and in order to improve the processing efficiency, the analysis units of the two modules are adopted for processing.
A second analysis unit configured to perform a roll-over control of weighing and unloading, comprising the steps of:
step 1, acquiring vehicle information of a vehicle on a turnover plate, which is identified by a data acquisition and processing device, wherein the vehicle information comprises whether the vehicle enters the turnover plate, license plate information and the position of the vehicle on the turnover plate;
and 3, sending a combined instruction of the guide area 1, the weighing area 2 and the unloading area 3 after weighing is finished. According to the weighing result, an unloading energy supply strategy is obtained through self-adaptive learning, a vehicle moving instruction is sent to enable the vehicle to enter the unloading area 3, the unloading energy supply strategy is sent to the power module, and unloading is conducted after the turnover plate is controlled to be lifted.
Optionally, the method for obtaining the unloading energy supply strategy through adaptive learning and adjustment includes constructing an adaptive energy supply library corresponding to the weight and the energy supply strategy, and obtaining the energy supply strategy corresponding to the weight through adaptive learning according to a weight result obtained through weighing.
Optionally, the energy supply strategy comprises the amount of supplied hydraulic oil and the output power of the power module, and the purposes of energy conservation and emission reduction can be effectively achieved through self-adaptive energy supply.
The self-adaptive learning method specifically comprises the following steps:
the device comprises a manual operation mode and an automatic operation mode, wherein in the manual operation mode, the user terminal is manually operated to unload the vehicle, and in the process of manually operating the vehicle unloader, a manual and manual energy supply strategy is recorded and stored in or updated in the self-adaptive energy supply library; in an automatic operation mode, when the gross weight is obtained by weighing, the system automatically matches the energy supply strategy corresponding to the corresponding weight to carry out self-adaptive energy supply and unloading.
Specifically, after the worker weighs the truck for the first time to obtain the gross weight at the unloader, the worker can perform face authentication, and then the switching system is in a manual operation mode.
Specifically, an adaptive learning unit may be further provided, where the adaptive learning method specifically includes: in the manual operation car unloader process of staff, this time manual energy supply strategy of manual is taken notes to the self-adaptation learning unit, after this time operation of car unloader, with the energy supply strategy that this gross weight corresponds update for this time manual energy supply strategy.
In this embodiment, the separating instruction and the combining instruction of the guiding area 1, the weighing area 2 and the unloading area 3 are the actions of the connecting hydraulic cylinder connected between the three areas, so that the piston 5 of the hydraulic cylinder is separated from or combined with the slot 4.
A method of controlling unloading, comprising:
step 31, when the vehicle reaches the unloading area 3, controlling the wheel blocking plate 8 to rise, and sending information for prompting a driver to get off to the user terminal;
step 32, controlling the turnover plate to ascend, wait in a half-empty state and descend according to an unloading energy supply strategy;
and step 33, receiving a turnover plate horizontal signal sent by the horizontal measurement and control unit of the turnover plate 8, finishing unloading, sending an unloading finishing signal to the user terminal, and prompting a driver to get on the vehicle and drive the vehicle to the weighing area 2.
Wherein information prompting the driver to get on and get off can be displayed simultaneously on the display screen 13. In the process of weighing the gross weight and the tare weight of the truck, a driver can be in the driving position of the truck.
After unloading, the vehicle is controlled to enter the weighing area 2 for tare weight data measurement, when the vehicle enters the turnover plate and waits for weighing in the weighing area 2, a separation instruction of the guide area 1, the weighing area 2 and the unloading area 3 is sent, and the weighing instruction is sent after separation.
Further, the control module receives the gross weight data, the tare weight data and the cargo weight data of the truck sent by the weighing device, and sends the gross weight data, the tare weight data, the cargo weight and the license plate information to the data server and the user terminal through the second communication unit;
in some embodiments, the power module includes a servo motor 16 and a servo pump; the servo motor 16 receives an energy supply strategy sent by the control module, determines the required hydraulic oil quantity according to the energy supply strategy, and controls the hydraulic pump to provide a power source for the hydraulic cylinder to form a servo pump to change the output power according to the energy supply strategy; the servo motor 16 and the servo pump provide hydraulic oil power for the connecting hydraulic cylinder on the turnover plate, the first hydraulic lifting cylinder 10 and the wheel guard plate hydraulic cylinder, so that the system is ensured to work stably;
according to the embodiment, the power can be accurately controlled through self-adaptive learning, the purposes of energy conservation and emission reduction can be effectively achieved through self-adaptive energy supply, the servo motor is adopted to replace a traditional proportional valve to enable the circulating hydraulic oil quantity to be reduced, oil temperature heating caused by the pressure difference of the proportional valve is reduced, meanwhile, the servo motor 16 and a servo pump are matched to enable noise pollution to be effectively improved, the servo hydraulic system is simpler in structure, system maintenance is more convenient, the power consumption and the noise pollution of the system can be effectively reduced, and energy conservation and emission reduction are achieved.
The data server is used for receiving gross weight data, tare weight data, cargo weight and license plate information sent by the control module and storing the data in the data server;
the user terminal can be a mobile phone terminal and a computer terminal of a user and is used for receiving a driver departure signal and an unloading completion signal sent by the control module and prompting the driver to leave and get on the vehicle at the user terminal; and the user terminal receives the gross weight data, the tare weight data, the cargo weight and the license plate information sent by the control module and displays the gross weight data, the tare weight data, the cargo weight and the license plate information on the user terminal.
Specifically, the user terminal can include an LED display screen 13 and a monitoring room PC end which are arranged beside the device, the LED display screen 13 can be used for displaying the license plate information, gross weight, tare weight and cargo weight of the current operation truck and the prompt of getting off and getting on of a driver, and the PC end of the monitoring room can be used for a manager to monitor the license plate information, gross weight, tare weight and cargo weight information of the current operation truck.
The overall flow of the control process of the weighing and unloading device in this embodiment is as follows, as shown in fig. 5: the image acquisition and processing device acquires and pre-processes a backing image, if a target is detected in the backing image, a truck is ready to be poured into a car unloader for operation, a vehicle board entering signal is sent to the control unit, then the image of the license plate is acquired, the image is pre-processed, then the license plate is identified by a running license plate, license plate information is sent to the control module, a relationship image between rear wheels of the truck and a parking line is acquired and pre-processed, whether a parking instruction is sent to the control unit is judged by extracting the distance relationship between a yellow parking line 15 between a unloading area 3 and a weighing area 2 of the turning plate and the rear wheels of the truck, the control module receives the parking instruction, sends a parking instruction to the running indicating device, sends a turning plate separating instruction to the power module, sends a weighing instruction to the weighing device, an indicator lamp 14 of the running indicating device is changed from green to red, and the power module controls hydraulic cylinder pistons 5 between areas of the turning plate to retract from slots 4, the weighing device obtains the gross weight of the truck to send a weighing completion signal to the control module, the control module sends a running instruction to the running indicating device, sends a combination instruction of the turnover plate and a lifting instruction of the wheel blocking plate to the power module, an indicator lamp 14 of the running indicating device is changed from red to green, the wheel blocking plate 8 extends out of a wheel blocking plate hole of the turnover plate, the control module sends a corresponding energy supply strategy to the power module through the matching self-adaptive learning of gross weight data of the truck, the power module provides hydraulic oil power to the hydraulic lifting module according to the energy supply strategy to realize the lifting, semi-empty stopping and descending operation of the turnover plate, the control module receives a horizontal signal sent by a horizontal measurement and control unit of the turnover plate to prove that the turnover operation of the unloader is finished, sends an unloading completion signal to a user terminal to prompt a driver to get on the truck, and the image acquisition and processing device acquires and preprocesses the relation image of the front wheels and the parking line of the truck, the method comprises the steps of judging whether a parking instruction is sent to a control module or not by extracting the distance relation between a yellow parking line 15 between a turnover plate weighing area 2 and a guide area 1 and a front wheel of a truck, wherein the control module receives the parking instruction and sends the parking instruction to a running indicating device, the turnover plate separating instruction is sent to a power module, a weighing instruction is sent to the weighing device, an indicating lamp 14 of the running indicating device is changed from green to red, the power module controls a hydraulic cylinder piston 5 between areas of the turnover plate to retract from a slot 4, the weighing device obtains the tare weight of the truck and sends the tare weight, tare weight and cargo weight data to the control module, the control module sends the running instruction to the running indicating device and sends a turnover plate combining instruction to the power module, the indicating lamp 14 of the running indicating device is changed from red to green, the image collecting and processing device collects an advancing image of the truck and judges whether the truck drives away from the truck transmitting control module through a plate signal, and the control module sends license plate information, tare weight and cargo weight data to a user terminal and a data server.
Example 2
Based on the device of embodiment 1, the present embodiment provides a roll-over control system of a hydraulic unloading device capable of weighing based on adaptive learning, as shown in fig. 5, including an acquisition unit and a processor; the acquisition unit includes horizontal measurement and control unit, camera device 12, and the treater can be the treater that sets up in the second analytical element in embodiment 1, the treater includes following module:
a data acquisition module: the turnover plate is configured to be used for acquiring license plate information and vehicle position information of a vehicle on the turnover plate;
the weighing control module: configured to control the separation of the guiding area 1, the weighing area 2 and the unloading area 3 in response to a received separation instruction when the vehicle enters the flipping board and waits for weighing in the weighing area 2, and to control weighing after receiving the weighing instruction;
the self-adaptive unloading control module: the device is configured to respond to a received combination instruction after weighing is finished, control the combination of the guide area 1, the weighing area 2 and the unloading area 3, obtain an unloading energy supply strategy through self-adaptive learning according to a weighing result, and further control the action of the turnover plate to unload.
Optionally, the unloading energy supply strategy comprises the amount of supplied hydraulic oil and the output power of the power module, and the embodiment can supply hydraulic kinetic energy according to the energy consumption corresponding to the weight through self-adaptive energy supply, so that the purposes of energy conservation and emission reduction can be effectively achieved.
Optionally, the method for obtaining the unloading energy supply strategy through adaptive learning includes constructing an adaptive energy supply library corresponding to the weight and the energy supply strategy, and obtaining the energy supply strategy corresponding to the weight through adaptive learning according to a weight result obtained through weighing.
Optionally, the energy supply strategy comprises the amount of supplied hydraulic oil and the output power of the power module, and the purposes of energy conservation and emission reduction can be effectively achieved through self-adaptive energy supply.
The self-adaptive learning method specifically comprises the following steps:
in the manual operation mode, unloading is performed through manual operation, and in the manual operation unloading process, a manual energy supply strategy is recorded and stored in or updated in the self-adaptive energy supply library;
in an automatic operation mode, when the gross weight is obtained by weighing, the system automatically matches the energy supply strategy corresponding to the corresponding weight in the self-adaptive energy supply library to carry out self-adaptive energy supply and unloading.
A method for controlling unloading in an adaptive unloading control module comprises the following steps:
step 31, when the vehicle reaches the unloading area 3, controlling the wheel blocking plate 8 to rise, and sending information prompting a driver to get off to the user terminal;
step 32, controlling the turnover plate to ascend, wait in a half-empty state and descend according to an unloading energy supply strategy;
and step 33, receiving the turnover plate horizontal signal sent by the horizontal measurement and control unit of the turnover plate, finishing unloading, and sending an unloading finishing signal to the user terminal to prompt a driver to get on the vehicle and drive the vehicle to the weighing area 2.
Wherein information prompting the driver to get on and get off can be displayed simultaneously on the display screen 13. In the process of weighing the gross weight and the tare weight of the truck, a driver can be in the driving position of the truck.
After unloading, the vehicle is controlled to enter the weighing area 2 to measure tare weight data, when the vehicle enters the turnover plate and waits for weighing in the weighing area 2, a separation instruction of the guide area 1, the weighing area 2 and the unloading area 3 is sent, and the weighing instruction is sent after separation.
According to the gross weight data, the tare weight data and the cargo weight data of the truck obtained through weighing, sending the gross weight data, the tare weight data, the cargo weight and the license plate information to a data server and a user terminal;
in the data acquisition module, vehicle information of the vehicle on the turnover plate is acquired, and the method comprises the following steps:
specifically, according to the received preprocessed vehicle images such as a truck reversing image and a truck forward image, a background subtraction method based on a Gaussian mixture model is adopted to extract a moving target, and the vehicle is determined to enter or leave the turnover plate.
the license plate recognition method for the preprocessed image comprises the following steps of:
(1.1) carrying out a template matching-based character segmentation method on the license plate image to realize license plate segmentation;
(1.2) carrying out character recognition on the segmented characters by adopting a character recognition method based on template matching;
and (1.3) combining the characters in sequence to form license plate information.
Optionally, the method for identifying the position of the vehicle on the roll-over panel includes the following steps:
(2.1) receiving a wheel and stop line relation image, and extracting the position of the stop line 15 in the image by adopting a Snake model algorithm and a Hough transformation algorithm;
specifically, a yellow stop line 15 between the turnover plate unloading area 3 and the weighing area 2 is extracted, the yellow stop line 15 between the guide area 1 and the weighing area 2 is extracted, a Snake model algorithm is adopted to detect the outline of the stop line, and a Hough transformation algorithm is adopted to extract the mathematical characteristics of the stop line and accurately detect the position of the stop line 15 in an image.
And (2.2) extracting a moving target based on a background subtraction method of a Gaussian mixture model for the received wheel and stop line relation image, and calculating the distance between the tire and the stop line 15 for the detected tire moving target, wherein the distance smaller than the set distance is the position reaching the stop line.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Although the embodiments of the present invention have been described with reference to the accompanying drawings, it is not intended to limit the scope of the present invention, and it should be understood by those skilled in the art that various modifications and variations can be made without inventive efforts by those skilled in the art based on the technical solution of the present invention.
Claims (10)
1. But weighing hydraulic pressure device of unloading based on self-adaptation study, its characterized in that: the device comprises a guide area, a weighing area and an unloading area which are sequentially connected, wherein turnover plates are respectively arranged on the guide area, the weighing area and the unloading area, and every two adjacent turnover plates are movably connected through a hydraulic cylinder piston structure;
the overturning control system is used for weighing the separated unloading area, the guide area and the weighing area by controlling the separation of the piston structure of the hydraulic cylinder; and obtaining an unloading energy supply strategy according to the weighing result self-adaptive learning, and unloading after controlling the turnover plate to be lifted.
2. The adaptive learning based hydraulic unloading apparatus that can be weighed according to claim 1, wherein: the hydraulic cylinder piston structure comprises a hydraulic cylinder piston slot, a connecting hydraulic cylinder and a hydraulic cylinder piston which are oppositely arranged, and the hydraulic cylinder piston can freely stretch and move in the hydraulic cylinder piston slot;
the weighing area comprises a weighing platform and a weighing groove, and a weighing sensor is arranged in the weighing groove; a plurality of weighing sensor utilize the terminal box to be connected to the arithmetic ware of weighing, and the arithmetic ware of weighing calculates and reachs weight data, sends weight data to upset control system's control module.
3. The adaptive learning based hydraulic unloading apparatus that can be weighed according to claim 1, wherein: the platform base seat is provided with a turnover plate of the guide area, the weighing area and the unloading area; the platform base includes a base floor and a footpad for supporting the base floor.
4. The adaptive learning-based hydraulic unloading device capable of weighing as recited in claim 3, wherein: the platform base is also connected with a guide plate, the guide plate is wedge-shaped, and the upper end of the guide plate is flush with the turnover plate of the guide area and extends to the ground in an inclined manner;
or the unloading area is provided with a wheel blocking plate and a wheel blocking plate hydraulic oil cylinder, the tail end of a piston rod of the wheel blocking plate hydraulic oil cylinder is connected to the wheel blocking plate to realize vertical extension of the wheel blocking plate, and the wheel blocking plate hydraulic oil cylinder is arranged on a base bottom plate of the platform base through the arranged wheel blocking plate hydraulic oil cylinder mounting seat.
5. The adaptive learning-based hydraulic unloading device that can be weighed according to claim 3, wherein: the turnover plate is also connected with a lifting device, the lifting device comprises a first hydraulic oil cylinder mounting seat, a support frame and a first hydraulic lifting oil cylinder, the support frame is connected with the turnover plate, the first hydraulic lifting oil cylinder is fixed on a foot pad of the platform base seat through the first hydraulic oil cylinder mounting seat, the first hydraulic lifting oil cylinder is connected with the support frame, and the turnover plate is driven to turn over through the support frame;
the support frame comprises a support top frame and support side frames, the bottoms of the support side frames are rotatably connected with the two sides of the turnover plate, the tops of the support side frames are connected with the support top frame, and the support top frame is connected with the tail ends of piston rods of the first hydraulic lifting cylinders.
6. The adaptive learning based hydraulic unloading apparatus that can be weighed according to claim 1, wherein: the turnover control system comprises a control module, and a data acquisition device, a power module, a running indicating device, a weighing device, a data server and a user terminal which are respectively connected with the control module.
7. The adaptive learning based hydraulic unloading apparatus that can be weighed according to claim 6, wherein: the data acquisition device comprises an acquisition unit, a preprocessing unit, a first analysis unit and a first communication unit;
the first analysis unit is configured to be used for judging whether the vehicle enters or leaves the turnover plate or not, and carrying out license plate recognition or/and position recognition of the vehicle on the turnover plate;
or the control module comprises a second analysis unit, a self-adaptive energy supply library and a second communication unit;
the second analysis unit is configured to execute weighing and unloading overturning control, and the adaptive energy supply library stores information corresponding to the weight and the energy supply strategy.
8. But the turnover control system of hydraulic pressure device of unloading of weighing based on self-adaptation study, its characterized in that includes acquisition unit and treater, the treater includes:
a data acquisition module: the turnover plate is configured to be used for acquiring license plate information and vehicle position information of a vehicle on the turnover plate;
a weighing control module: configured for controlling the separation of the guiding zone, the weighing zone and the unloading zone in response to a received separation instruction when the vehicle enters the roll-over panel and waits for weighing in the weighing zone, and controlling weighing after receiving the weighing instruction;
the self-adaptive unloading control module: the automatic unloading device is configured to respond to the received fit instruction after weighing is finished, control the fit of the guide area, the weighing area and the unloading area, obtain an unloading energy supply strategy through self-adaptive learning according to a weighing result, and further control the action of the turnover plate to unload.
9. The adaptive learning based roll-over control system for a hydraulic unloading unit that can be weighed according to claim 8, wherein:
the unloading energy supply strategy comprises the amount of supplied hydraulic oil and the output power of the power module;
the self-adaptive learning method specifically comprises the following steps:
in the manual operation mode, in the manual operation unloading process, recording a manual energy supply strategy, and storing or updating the manual energy supply strategy into the self-adaptive energy supply library;
under the automatic operation mode, when weighing and getting gross weight, the corresponding energy supply strategy of weight in the automatic matching self-adaptation energy supply storehouse carries out the self-adaptation energy supply and unloads.
10. The adaptive learning based roll-over control system for a hydraulic unloading unit that can be weighed according to claim 8, wherein:
the method for acquiring the license plate information and the vehicle position information of the vehicle on the turnover plate comprises the following steps:
acquiring a vehicle action image on the turnover plate for preprocessing;
extracting a moving target by adopting a background subtraction method based on a Gaussian mixture model according to the preprocessed image, and determining whether the vehicle enters or leaves the turnover plate;
when a vehicle enters the turnover plate to acquire an acquired image, carrying out license plate recognition and recognizing the position of the vehicle on the turnover plate;
the method for identifying the position of the vehicle on the turnover plate comprises the following steps:
receiving a relation image of the wheel and the stop line, and extracting the position of the stop line in the image by adopting a Snake model algorithm and a Hough transformation algorithm;
extracting a moving target from the received wheel and stop line relation image based on a background subtraction method of a Gaussian mixture model; and calculating the distance between the tire and the stop line for the detected tire moving target, wherein the distance smaller than the set distance is the position reaching the stop line.
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