Empty-heavy Mixing Loading Matching and Measurement Algorithm of Container Trucks in Railway Freight Yards
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为解决铁路货场集装箱装火车时空重匹配实时性差和整车计量困难的问题,将称重传感器信息和空间位置信息相结合,通过称重传感器信号上升沿、下降沿判断集装箱装车时刻及落点位置信息.当北斗高精度定位信号丢失时,则采用惯性算法弥补丢失的落点信息.通过综合落点经纬度及惯性速度验证当2 个集装箱的落点距离为6000 mm左右时装载在同1 个辆货车上,将这2 个集装箱的8 个受力点进行力矩平衡计算,可将2 个集装箱的偏载偏重状态转换为整车计量状态;通过与铁路货运安全平台中的数据进行对比,总重偏差比平均值为0.4%,横向偏重误差平均值为0.3 t,纵向偏移误差平均值为3.46 mm.
To solve the problems of poor real-time matching of heavy containers during train loading in railway freight yards and difficulty in measuring vehicle load deviation,the information from weighing sensors is combined with spatial location information.By using the rising and falling edges of the weighing sensor signal,the loading time and landing point information of the container are determined.When the high-precision positioning signal of Beidou is lost at the time of container landing,the inertial algorithm is used to compensate for the lost landing point information.Finally,by integrating the latitude,longitude,and inertial velocity of the landing points,it is verified that when the distance between the landing points of two containers is about 6000 mm,they should be loaded onto the same truck.By calculating the moment balance of the 8 force points on these 2 containers,the unbalanced and heavy load state of the 2 containers can be converted into the vehicle measurement state.By comparing with the data in the railway freight safety platform,the average total weight error is 0.4%,the average lateral bias error is 0.3 t,and the average longitudinal offset error is 3.46 mm.
mechanical metrologyfreight containerempty weight mixed loadingoverloadsafety detection equipmentintelligent station
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