CN112562335A - Electric locomotive autonomous driving system based on artificial intelligence - Google Patents
Electric locomotive autonomous driving system based on artificial intelligence Download PDFInfo
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C22/00—Measuring distance traversed on the ground by vehicles, persons, animals or other moving solid bodies, e.g. using odometers, using pedometers
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- G—PHYSICS
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- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B5/00—Visible signalling systems, e.g. personal calling systems, remote indication of seats occupied
- G08B5/22—Visible signalling systems, e.g. personal calling systems, remote indication of seats occupied using electric transmission; using electromagnetic transmission
- G08B5/36—Visible signalling systems, e.g. personal calling systems, remote indication of seats occupied using electric transmission; using electromagnetic transmission using visible light sources
- G08B5/38—Visible signalling systems, e.g. personal calling systems, remote indication of seats occupied using electric transmission; using electromagnetic transmission using visible light sources using flashing light
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/04—Detecting movement of traffic to be counted or controlled using optical or ultrasonic detectors
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- G—PHYSICS
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- G08G—TRAFFIC CONTROL SYSTEMS
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- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/052—Detecting movement of traffic to be counted or controlled with provision for determining speed or overspeed
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- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/07—Controlling traffic signals
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
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- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096708—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control
- G08G1/096725—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control where the received information generates an automatic action on the vehicle control
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Abstract
The invention discloses an artificial intelligence-based autonomous running system of an electric locomotive, which comprises a locomotive positioning module, wherein the locomotive positioning module is arranged, an encoder is used for generating pulse signals and counting the pulse times, then the running distance of the locomotive is calculated preliminarily by accumulation, the position of the locomotive is determined preliminarily according to the calculation result, and the position of the locomotive is further corrected by arranging a radio frequency reading correction unit, so that the accurate position of the locomotive is obtained in real time, the positioning error is reduced, the accuracy and the persuasion of data are improved, the driving state of the electric locomotive is favorably regulated and controlled, and the running safety of the electric locomotive is improved; through setting up state monitoring control module, monitor and control orbital switch state, air door state and signal lamp state, make the locomotive can independently drive according to the operational environment state, reduction in production cost and artificial intensity of labour have improved production efficiency and factor of safety simultaneously.
Description
Technical Field
The invention relates to an autonomous driving system, in particular to an electric locomotive autonomous driving system based on artificial intelligence.
Background
At present, the mining electric locomotive is mainly driven manually. Due to the complex mine environment and the bad conditions, drivers need to pay close attention to track conditions, signal states, surrounding vehicles and people in the driving process. Accidents may occur if the driver does not observe the risk factors in the environment in time, and even casualties may occur in severe cases.
The mining electric locomotive has wide application range, and has the characteristics of large load, long transportation distance, frequent operation and the like. The electric locomotive is driven manually, so that the problems of poor safety, random driving process, inaccurate driving time and the like generally exist, and the driving technology of a driver directly influences the running condition of the locomotive. And the driver can achieve the best control effect by depending on long-term practice and continuous learning. At present, mine enterprises face the problems of gradual rise of labor cost, personnel loss, increasingly strict safety supervision and the like, and the mine construction is gradually forced to develop towards the direction of automation and intellectualization. Aiming at the current situation, the autonomous driving of the electric locomotive is urgently needed. Therefore, the autonomous running system of the electric locomotive based on artificial intelligence is provided.
Disclosure of Invention
The invention aims to provide an autonomous running system of an electric locomotive based on artificial intelligence, which is characterized in that a locomotive positioning module is arranged, a coder is used for generating pulse signals and counting the pulse times, then the running distance of the locomotive is calculated preliminarily by accumulation, the position of the locomotive is determined preliminarily according to the calculation result, and the position of the locomotive is further corrected by arranging a radio frequency reading correction unit, so that the accurate position of the locomotive is obtained in real time, the positioning error is reduced, the accuracy and the persuasion of data are improved, the driving state of the electric locomotive is favorably regulated and controlled, and the running safety of the electric locomotive is improved; through setting up state monitoring control module, monitor and control orbital switch state, air door state and signal lamp state, make the locomotive can independently drive according to the operational environment state, reduction in production cost and artificial intensity of labour have improved production efficiency and factor of safety simultaneously.
The technical problem solved by the invention is as follows:
(1) how to use an encoder to generate pulse signals and count the pulse times by arranging a locomotive positioning module, then accumulating and preliminarily calculating the running distance of the locomotive, preliminarily determining the position of the locomotive according to the calculation result, and further correcting the position of the locomotive by arranging a radio frequency reading and correcting unit, thereby solving the problem that the precise position of the locomotive is difficult to monitor and obtain in real time in the prior art;
(2) how to monitor and control the turnout state, the air door state and the signal lamp state of the track by setting the state monitoring control module solves the problem that the locomotive which is not realized in the prior art is autonomously driven according to the working environment state.
The purpose of the invention can be realized by the following technical scheme: an electric locomotive autonomous driving system based on artificial intelligence comprises a locomotive positioning module, a state monitoring control module, a data processing module, a data storage module, a driving control module, an interconnection module and an operation display module;
the data storage module stores pulse emission set distance data, turnout demand state data and air door demand state data, wherein the pulse emission set distance data represents the distance of a locomotive to be driven when a pulse is generated once, the turnout demand state data represents the connection or separation state required by the turnout track of each turnout intersection, and the air door demand state data represents the opening or closing state required by each air door;
the locomotive positioning module performs accumulated calculation on the running distance of the locomotive and performs data correction to obtain a warning signal and accurate position data, and sends the warning signal and the accurate position data to the operation display module through the interconnection module;
the state monitoring control module is used for monitoring the turnout state of a track, the air door state and the signal lamp state of a coal mine in real time, and transmitting the acquired turnout state data, the air door state data, the high-level red light signal, the high-level yellow light signal, the high-level green light signal, the low-level red light signal, the low-level yellow light signal and the low-level green light signal to the data processing module together;
the data processing module receives and identifies turnout state data, air door state data, a high-level red light signal, a high-level yellow light signal, a high-level green light signal, a low-level red light signal, a low-level yellow light signal and a low-level green light signal, sends an obtained switch signal and a state change signal to the state monitoring control module, and sends an obtained parking signal, a low-speed running signal and a normal running signal to the driving control module;
the state monitoring control module is also used for identifying the switch channel signal and the state change signal and carrying out corresponding control operation;
the driving control module is preset with low-speed running speed data and normal running speed data, identifies a parking signal, a low-speed running signal and a normal running signal, and performs braking processing until the vehicle speed is reduced to zero when the parking signal is identified; when the low-speed driving signal is identified, the brake decelerates to the speed matched with the low-speed driving speed data and then the vehicle drives; when the normal driving signal is identified, keeping or adjusting the vehicle speed to the speed matched with the normal driving speed data for driving;
the operation display module receives the warning signal and turns into the characters warning information with it and demonstrates and carry out the scintillation display on display screen, and the operation display module still demonstrates accurate position data simultaneously, the operation display module still is used for appointing the driving task and controls drive control module through data processing module, the operation display module specifically is the panel computer.
The invention is further improved in that: the locomotive positioning module comprises an encoder unit and a radio frequency reading and correcting unit, the radio frequency reading and correcting unit comprises a card reader and a plurality of cards, the card reader is fixedly installed on the locomotive and moves along with the locomotive, the cards are dispersedly fixed on the track, each card has a unique ID card number, and the locomotive positioning module comprises the following specific steps of performing accumulation calculation and data correction:
s21: extracting a pulse transmission set distance from the data storage module and marking the pulse transmission set distance as STs, presetting a distance recording data in the locomotive positioning module and marking the distance recording data as RDs;
s22: when the locomotive starts to move, the locomotive positioning module acquires the running distance of the locomotive in real time and assigns the distance record data, when the distance record data is equal to the pulse transmission set distance, the encoder unit generates a pulse signal once, clears the distance record data, re-assigns the value, records the generation times of the pulse signal when the encoder unit generates the pulse signal once, generates pulse frequency data and marks the pulse frequency data as Pt, and performs product operation on the pulse frequency data and the pulse transmission set distance data to obtain calculated distance data;
s23: when the locomotive runs to the position of the card, the card reader reads the card and obtains card information, wherein the card information comprises card position data, distance deviation limiting data is preset in the locomotive positioning module and marked as RMs, the calculated distance data and the card position data are subjected to difference operation, the absolute value of the operation result is obtained, and the calculated deviation data is marked as Cd;
s24: comparing the calculated deviation data with the distance deviation limiting data, judging that the calculated deviation data is abnormal deviation when the calculated deviation data is greater than the distance deviation limiting data, and generating a warning signal; when the calculated deviation data is less than or equal to the distance deviation limiting data, judging the card to be normal deviation, taking the read card position data as basic position data, resetting the pulse frequency data, and then recounting according to a formula: and obtaining the accurate position data of the current locomotive by the basic position data, the pulse frequency data and the pulse transmitting set distance data.
The invention is further improved in that: the state monitoring control module comprises a turnout state monitoring control unit, an air door state monitoring control unit and a signal lamp state monitoring control unit;
the turnout state monitoring control unit comprises a signal transceiver Ai, a signal transceiver Ai ' and a turnout switch machine, wherein i represents the number of a turnout of a track, i is 1,2,3 … … n1, the signal transceiver Ai is fixedly installed on a locomotive and moves along with the locomotive, the signal transceiver Ai ' is fixedly installed on one side of the turnout switch machine, the turnout switch machine is installed on the turnout of the track, the signal transceiver Ai ' acquires turnout state data of the turnout of the current track through a travel switch, marks the turnout state data as DTi and sends the DTi to the signal transceiver Ai, and the signal transceiver Ai transmits the turnout state data to the data processing module through serial port communication;
the throttle state monitoring control unit comprises a signal transceiver BJ and a signal transceiver BJ ', wherein j represents the number of the throttle, j is 1,2,3 … … n2, the signal transceiver BJ is fixedly mounted on a locomotive and moves along with the locomotive, the signal transceiver BJ ' is fixedly mounted on one side of the throttle, the signal transceiver BJ ' monitors throttle state data through a travel switch and marks the data as FMj, the throttle state data are sent to the signal transceiver BJ, and the signal transceiver BJ transmits the throttle state data to a data processing module through serial port communication;
the signal light state monitoring control unit comprises a signal transceiver Ck and a signal transceiver Ck ', wherein k represents the number of signal lights, k is 1,2,3 … … n3, the signal transceiver Ck is fixedly installed on a locomotive and moves along with the locomotive, the signal transceiver Ck ' is electrically connected with the signal lights, the signal light state comprises three switching value channels, namely a red light state, a yellow light state and a green light state, the three color states respectively correspond to the three switching value channels and comprise a red switching value channel, a yellow switching value channel and a green switching value channel, when the signal lights are in the red light state, the red switching value channel generates a high-level red light signal, the yellow switching value channel and the green switching value channel both generate a low-level yellow light signal and a low-level green light signal, the signal transceiver Ck ' receives the high-level red light signal and marks the high-level red light signal as GPRk, receives the low-level yellow light signal and marks the low-level yellow light signal as DPYk, receiving a low-level green light signal and marking the low-level green light signal as DPGk;
when the signal lamp is in a yellow light state, the yellow switching value channel generates a high-level yellow light signal, and the red switching value channel and the green switching value channel both generate a low-level red light signal and a low-level green light signal, the signal transceiver Ck' receives the high-level yellow light signal and marks the high-level yellow light signal as GPYk, receives the low-level red light signal and marks the low-level red light signal as DPRk, and receives the low-level green light signal and marks the low-level green light signal as DPGk;
when the signal lamp is in a green state, the green switching value channel generates a high-level green light signal, the red switching value channel and the yellow switching value channel generate a low-level red light signal and a low-level yellow light signal, the signal transceiver Ck' receives the high-level green light signal and marks the high-level green light signal as GPGk, receives the low-level red light signal and marks the low-level red light signal as DPRk, receives the low-level yellow light signal and marks the low-level yellow light signal as DPYk, and the signal receiver Ck transmits the generated signals to the data processing module through serial port communication.
The invention is further improved in that: the specific steps of the data processing module for identification processing are as follows:
s41: the data processing module receives the turnout state data, extracts turnout demand state data corresponding to the serial number from the data storage module, compares the turnout state data with the turnout demand state data, judges that the turnout state is correct and does not perform any operation when the comparison is successful, judges that the turnout state is wrong when the comparison is failed, and generates a switch signal;
s42: the data processing module receives the air door state data, extracts the air door demand state data corresponding to the serial number from the data storage module, compares the air door state data with the air door demand state data, judges that the air door state is correct and does not perform any operation when the comparison is successful, judges that the air door state is wrong when the comparison is failed, and generates a state change signal;
s43: the data processing module receives and identifies a high-level red light signal, a high-level yellow light signal, a high-level green light signal, a low-level red light signal, a low-level yellow light signal and a low-level green light signal, determines that the signal lamp is in a red light state when the high-level red light signal, the low-level yellow light signal and the low-level green light signal are identified simultaneously, generates a parking signal, determines that the signal lamp is in a yellow light state when the high-level yellow light signal, the low-level red light signal and the low-level green light signal are identified simultaneously, generates a low-speed driving signal, determines that the signal lamp is in a green light state when the high-level green light signal, the low-level yellow light signal and the low-level red light signal are identified simultaneously, and generates a normal driving signal.
The invention is further improved in that: the specific steps of the state monitoring control module identification processing are as follows:
s51: when a switch signal is identified, the turnout monitoring control unit sends a switch instruction to the signal transceiver Ai' with the corresponding number to control the turnout switch machine to switch;
s52: when the state change signal is recognized, the air door state monitoring control unit sends a state change command to the signal transceiver Bj' with the corresponding number, if the air door state is in an open state, the air door state monitoring control unit changes the air door state to a closed state, and if the air door state is in a closed state, the air door state monitoring control unit changes the air door state to an open state.
Compared with the prior art, the invention has the beneficial effects that:
1. when the invention is used, the locomotive positioning module carries out accumulation calculation and data correction on the running distance of the locomotive, and the operation display module also displays accurate position data, when the locomotive starts to move, the locomotive positioning module carries out real-time acquisition on the running distance of the locomotive and assigns values to the distance recording data, when the distance recording data is equal to the set distance of pulse emission, the encoder unit generates a pulse signal, clears the distance recording data, carries out reassignment, simultaneously records the generation times of the pulse signal, generates pulse frequency data, carries out product operation on the pulse frequency data and the set distance data of pulse emission to obtain calculated distance data, when the locomotive moves to the position of a card, the card reader reads the card and obtains card information, carries out difference operation on the calculated distance data and the card position data and obtains the absolute value of the operation result, obtaining calculated deviation data, comparing the calculated deviation data with distance deviation limiting data, judging that the calculated deviation data is abnormal deviation when the calculated deviation data is larger than the distance deviation limiting data, and generating a warning signal; when the calculated deviation data is less than or equal to the distance deviation limiting data, judging the card to be normal deviation, taking the read card position data as basic position data, resetting the pulse frequency data, and then recounting according to a formula: basic position data + pulse frequency data multiplied by pulse emission set distance data to obtain the accurate position data of the current locomotive, and sending the warning signal and the accurate position data to an operation display module through an interconnection module, the operation display module receiving the warning signal and converting the warning signal into character warning information to be displayed on a display screen for flashing display, through setting a locomotive positioning module, utilizing an encoder to generate a pulse signal and counting the pulse frequency, then accumulating and preliminarily calculating the running distance of the locomotive, preliminarily determining the position of the locomotive according to the calculation result, and further correcting the position of the locomotive by setting a radio frequency reading correction unit, realizing the real-time acquisition of the accurate position of the locomotive, reducing the positioning error, improving the accuracy and persuasion of the data, and being beneficial to the regulation and control of the driving state of the electric locomotive, the running safety of the electric locomotive is improved;
2. the state monitoring control module monitors the turnout state of a track, the air door state and the signal lamp state of a coal mine in real time, transmits the acquired turnout state data, the air door state data, a high-level red light signal, a high-level yellow light signal, a high-level green light signal, a low-level red light signal, a low-level yellow light signal and a low-level green light signal to the data processing module together, the data processing module receives the turnout state data, the air door state data, the high-level red light signal, the high-level yellow light signal, the high-level green light signal, the low-level red light signal, the low-level yellow light signal and the low-level green light signal, identifies and processes the turnout state data, the air door state data, the high-level red light signal, the high-level yellow light signal, the high-level green light signal, the low-level red light signal, the low-level yellow, the state monitoring control module is also used for identifying the switch signal and the state change signal and carrying out corresponding control operation, low-speed running speed data and normal running speed data are preset in the driving control module, the driving control module identifies the parking signal, the low-speed running signal and the normal running signal, when the parking signal is identified, braking is carried out until the vehicle speed is reduced to zero, and when the low-speed running signal is identified, the brake is decelerated to the speed matched with the low-speed running speed data and then runs; when the normal driving signal is identified, the vehicle speed is kept or adjusted to be driven at the speed matched with the normal driving speed data, and the turnout state, the air door state and the signal lamp state of the track are monitored and controlled by arranging the state monitoring control module, so that the locomotive can be driven independently according to the working environment state, the production cost and the labor intensity of workers are reduced, and the production efficiency and the safety factor are improved.
Drawings
In order to facilitate understanding for those skilled in the art, the present invention will be further described with reference to the accompanying drawings.
FIG. 1 is a block diagram of the system of the present invention.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the following embodiments, and it should be understood that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, an autonomous driving system of an electric locomotive based on artificial intelligence includes a locomotive positioning module, a state monitoring control module, a data processing module, a data storage module, a driving control module, an interconnection module, and an operation display module;
the data storage module stores pulse emission set distance data, turnout demand state data and air door demand state data, wherein the pulse emission set distance data represents the distance of a locomotive to be driven when a pulse is generated once, the turnout demand state data represents the connection or separation state required by the turnout track of each turnout intersection, and the air door demand state data represents the opening or closing state required by each air door;
the locomotive positioning module performs accumulated calculation on the running distance of the locomotive and performs data correction to obtain a warning signal and accurate position data, and sends the warning signal and the accurate position data to the operation display module through the interconnection module;
the state monitoring control module is used for monitoring the turnout state of a track, the air door state and the signal lamp state of a coal mine in real time, and transmitting the acquired turnout state data, the air door state data, the high-level red light signal, the high-level yellow light signal, the high-level green light signal, the low-level red light signal, the low-level yellow light signal and the low-level green light signal to the data processing module together;
the data processing module receives and identifies turnout state data, air door state data, a high-level red light signal, a high-level yellow light signal, a high-level green light signal, a low-level red light signal, a low-level yellow light signal and a low-level green light signal, sends an obtained switch signal and a state change signal to the state monitoring control module, and sends an obtained parking signal, a low-speed running signal and a normal running signal to the driving control module;
the state monitoring control module is also used for identifying the switch channel signal and the state change signal and carrying out corresponding control operation;
the driving control module is preset with low-speed running speed data and normal running speed data, identifies a parking signal, a low-speed running signal and a normal running signal, and performs braking processing until the vehicle speed is reduced to zero when the parking signal is identified; when the low-speed driving signal is identified, the brake decelerates to the speed matched with the low-speed driving speed data and then the vehicle drives; when the normal driving signal is identified, keeping or adjusting the vehicle speed to the speed matched with the normal driving speed data for driving;
the operation display module receives the warning signal and turns into the characters warning information with it and demonstrates and carry out the scintillation display on display screen, and the operation display module still demonstrates accurate position data simultaneously, the operation display module still is used for appointing the driving task and controls drive control module through data processing module, the operation display module specifically is the panel computer.
The locomotive positioning module comprises an encoder unit and a radio frequency reading and correcting unit, the radio frequency reading and correcting unit comprises a card reader and a plurality of cards, the card reader is fixedly installed on the locomotive and moves along with the locomotive, the cards are dispersedly fixed on the track, each card has a unique ID card number, and the locomotive positioning module comprises the following specific steps of performing accumulation calculation and data correction:
s21: extracting a pulse transmission set distance from the data storage module and marking the pulse transmission set distance as STs, presetting a distance recording data in the locomotive positioning module and marking the distance recording data as RDs;
s22: when the locomotive starts to move, the locomotive positioning module acquires the running distance of the locomotive in real time and assigns the distance record data, when the distance record data is equal to the pulse transmission set distance, the encoder unit generates a pulse signal once, clears the distance record data, re-assigns the value, records the generation times of the pulse signal when the encoder unit generates the pulse signal once, generates pulse frequency data and marks the pulse frequency data as Pt, and performs product operation on the pulse frequency data and the pulse transmission set distance data to obtain calculated distance data;
s23: when the locomotive runs to the position of the card, the card reader reads the card and obtains card information, wherein the card information comprises card position data, distance deviation limiting data is preset in the locomotive positioning module and marked as RMs, the calculated distance data and the card position data are subjected to difference operation, the absolute value of the operation result is obtained, and the calculated deviation data is marked as Cd;
s24: comparing the calculated deviation data with the distance deviation limiting data, judging that the calculated deviation data is abnormal deviation when the calculated deviation data is greater than the distance deviation limiting data, and generating a warning signal; when the calculated deviation data is less than or equal to the distance deviation limiting data, judging the card to be normal deviation, taking the read card position data as basic position data, resetting the pulse frequency data, and then recounting according to a formula: and obtaining the accurate position data of the current locomotive by the basic position data, the pulse frequency data and the pulse transmitting set distance data.
The state monitoring control module comprises a turnout state monitoring control unit, an air door state monitoring control unit and a signal lamp state monitoring control unit;
the turnout state monitoring control unit comprises a signal transceiver Ai, a signal transceiver Ai ' and a turnout switch machine, wherein i represents the number of a turnout of a track, i is 1,2,3 … … n1, the signal transceiver Ai is fixedly installed on a locomotive and moves along with the locomotive, the signal transceiver Ai ' is fixedly installed on one side of the turnout switch machine, the turnout switch machine is installed on the turnout of the track, the signal transceiver Ai ' acquires turnout state data of the turnout of the current track through a travel switch, marks the turnout state data as DTi and sends the DTi to the signal transceiver Ai, and the signal transceiver Ai transmits the turnout state data to the data processing module through serial port communication;
the throttle state monitoring control unit comprises a signal transceiver BJ and a signal transceiver BJ ', wherein j represents the number of the throttle, j is 1,2,3 … … n2, the signal transceiver BJ is fixedly mounted on a locomotive and moves along with the locomotive, the signal transceiver BJ ' is fixedly mounted on one side of the throttle, the signal transceiver BJ ' monitors throttle state data through a travel switch and marks the data as FMj, the throttle state data are sent to the signal transceiver BJ, and the signal transceiver BJ transmits the throttle state data to a data processing module through serial port communication;
the signal light state monitoring control unit comprises a signal transceiver Ck and a signal transceiver Ck ', wherein k represents the number of signal lights, k is 1,2,3 … … n3, the signal transceiver Ck is fixedly installed on a locomotive and moves along with the locomotive, the signal transceiver Ck ' is electrically connected with the signal lights, the signal light state comprises three switching value channels, namely a red light state, a yellow light state and a green light state, the three color states respectively correspond to the three switching value channels and comprise a red switching value channel, a yellow switching value channel and a green switching value channel, when the signal lights are in the red light state, the red switching value channel generates a high-level red light signal, the yellow switching value channel and the green switching value channel both generate a low-level yellow light signal and a low-level green light signal, the signal transceiver Ck ' receives the high-level red light signal and marks the high-level red light signal as GPRk, receives the low-level yellow light signal and marks the low-level yellow light signal as DPYk, receiving a low-level green light signal and marking the low-level green light signal as DPGk;
when the signal lamp is in a yellow light state, the yellow switching value channel generates a high-level yellow light signal, and the red switching value channel and the green switching value channel both generate a low-level red light signal and a low-level green light signal, the signal transceiver Ck' receives the high-level yellow light signal and marks the high-level yellow light signal as GPYk, receives the low-level red light signal and marks the low-level red light signal as DPRk, and receives the low-level green light signal and marks the low-level green light signal as DPGk;
when the signal lamp is in a green state, the green switching value channel generates a high-level green light signal, the red switching value channel and the yellow switching value channel generate a low-level red light signal and a low-level yellow light signal, the signal transceiver Ck' receives the high-level green light signal and marks the high-level green light signal as GPGk, receives the low-level red light signal and marks the low-level red light signal as DPRk, receives the low-level yellow light signal and marks the low-level yellow light signal as DPYk, and the signal receiver Ck transmits the generated signals to the data processing module through serial port communication.
The specific steps of the data processing module for identification processing are as follows:
s41: the data processing module receives the turnout state data, extracts turnout demand state data corresponding to the serial number from the data storage module, compares the turnout state data with the turnout demand state data, judges that the turnout state is correct and does not perform any operation when the comparison is successful, judges that the turnout state is wrong when the comparison is failed, and generates a switch signal;
s42: the data processing module receives the air door state data, extracts the air door demand state data corresponding to the serial number from the data storage module, compares the air door state data with the air door demand state data, judges that the air door state is correct and does not perform any operation when the comparison is successful, judges that the air door state is wrong when the comparison is failed, and generates a state change signal;
s43: the data processing module receives and identifies a high-level red light signal, a high-level yellow light signal, a high-level green light signal, a low-level red light signal, a low-level yellow light signal and a low-level green light signal, determines that the signal lamp is in a red light state when the high-level red light signal, the low-level yellow light signal and the low-level green light signal are identified simultaneously, generates a parking signal, determines that the signal lamp is in a yellow light state when the high-level yellow light signal, the low-level red light signal and the low-level green light signal are identified simultaneously, generates a low-speed driving signal, determines that the signal lamp is in a green light state when the high-level green light signal, the low-level yellow light signal and the low-level red light signal are identified simultaneously, and generates a normal driving signal.
The specific steps of the state monitoring control module identification processing are as follows:
s51: when a switch signal is identified, the turnout monitoring control unit sends a switch instruction to the signal transceiver Ai' with the corresponding number to control the turnout switch machine to switch;
s52: when the state change signal is recognized, the air door state monitoring control unit sends a state change command to the signal transceiver Bj' with the corresponding number, if the air door state is in an open state, the air door state monitoring control unit changes the air door state to a closed state, and if the air door state is in a closed state, the air door state monitoring control unit changes the air door state to an open state. .
The working principle is as follows: when the invention is used, the locomotive positioning module carries out accumulation calculation on the running distance of the locomotive and carries out data correction to obtain a warning signal and accurate position data, the warning signal and the accurate position data are sent to the operation display module through the interconnection module, the operation display module receives the warning signal and converts the warning signal into character warning information to be displayed on the display screen for flicker display, meanwhile, the operation display module also displays the accurate position data, the state monitoring control module monitors the turnout state of a track, the air door state and the signal lamp state of a coal mine in real time and transmits the obtained turnout state data, the air door state data, the high-level red light signal, the high-level yellow light signal, the high-level green light signal, the low-level red light signal, the low-level yellow light signal and the low-level green light signal to the data processing module together, and the data processing module receives the turnout state data, The air door state data, the high level red light signal, the high level yellow light signal, the high level green light signal, the low level red light signal, the low level yellow light signal and the low level green light signal are identified, the obtained lane signal and the state change signal are sent to a state monitoring control module, the obtained parking signal, the low-speed driving signal and the normal driving signal are sent to a driving control module, the state monitoring control module is also used for identifying the lane signal and the state change signal and carrying out corresponding control operation, low-speed driving speed data and normal driving speed data are preset in the driving control module, the driving control module identifies the parking signal, the low-speed driving signal and the normal driving signal, when the parking signal is identified, performing braking processing until the vehicle speed is reduced to zero, and when the low-speed driving signal is identified, decelerating the vehicle speed to a speed matched with the low-speed driving speed data by braking and then driving; when a normal travel signal is recognized, the vehicle speed is maintained or adjusted to travel at a speed matching the normal travel speed data.
In the description of the present invention, it is to be understood that the terms "upper", "lower", "left", "right", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are only for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation and a specific orientation configuration and operation, and thus, should not be construed as limiting the present invention. Furthermore, "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and the like are to be construed broadly and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be directly connected or indirectly connected through an intermediate member, or they may be connected through two or more elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art. While one embodiment of the present invention has been described in detail, the description is only a preferred embodiment of the present invention and should not be taken as limiting the scope of the invention. All equivalent changes and modifications made within the scope of the present invention shall fall within the scope of the present invention.
Claims (5)
1. The utility model provides an electric locomotive system of independently traveling based on artificial intelligence which characterized in that: the system comprises a locomotive positioning module, a state monitoring control module, a data processing module, a data storage module, a driving control module, an interconnection module and an operation display module;
the data storage module stores pulse emission set distance data, turnout demand state data and air door demand state data, wherein the pulse emission set distance data represents the distance of a locomotive to be driven when a pulse is generated once, the turnout demand state data represents the connection or separation state required by the turnout track of each turnout intersection, and the air door demand state data represents the opening or closing state required by each air door;
the locomotive positioning module performs accumulated calculation on the running distance of the locomotive and performs data correction to obtain a warning signal and accurate position data, and sends the warning signal and the accurate position data to the operation display module through the interconnection module;
the state monitoring control module is used for monitoring the turnout state of a track, the air door state and the signal lamp state of a coal mine in real time, and transmitting the acquired turnout state data, the air door state data, the high-level red light signal, the high-level yellow light signal, the high-level green light signal, the low-level red light signal, the low-level yellow light signal and the low-level green light signal to the data processing module together;
the data processing module receives and identifies turnout state data, air door state data, a high-level red light signal, a high-level yellow light signal, a high-level green light signal, a low-level red light signal, a low-level yellow light signal and a low-level green light signal, sends an obtained switch signal and a state change signal to the state monitoring control module, and sends an obtained parking signal, a low-speed running signal and a normal running signal to the driving control module;
the state monitoring control module is also used for identifying the switch channel signal and the state change signal and carrying out corresponding control operation;
the driving control module is preset with low-speed running speed data and normal running speed data, identifies a parking signal, a low-speed running signal and a normal running signal, and performs braking processing until the vehicle speed is reduced to zero when the parking signal is identified; when the low-speed driving signal is identified, the brake decelerates to the speed matched with the low-speed driving speed data and then the vehicle drives; when the normal driving signal is identified, keeping or adjusting the vehicle speed to the speed matched with the normal driving speed data for driving;
the operation display module receives the warning signal and turns into the characters warning information with it and demonstrates and carry out the scintillation display on display screen, and the operation display module still demonstrates accurate position data simultaneously, the operation display module still is used for appointing the driving task and controls drive control module through data processing module, the operation display module specifically is the panel computer.
2. The artificial intelligence based autonomous driving system of an electric locomotive according to claim 1, wherein the locomotive positioning module comprises an encoder unit and a radio frequency reading and correcting unit, the radio frequency reading and correcting unit comprises a card reader and a plurality of cards, the card reader is fixedly mounted on the locomotive and moves along with the locomotive, the cards are dispersedly fixed on the track, each card has a unique ID card number, and the locomotive positioning module performs the specific steps of accumulating calculation and data correction as follows:
s21: extracting a pulse transmission set distance from the data storage module and marking the pulse transmission set distance as STs, presetting a distance recording data in the locomotive positioning module and marking the distance recording data as RDs;
s22: when the locomotive starts to move, the locomotive positioning module acquires the running distance of the locomotive in real time and assigns the distance record data, when the distance record data is equal to the pulse transmission set distance, the encoder unit generates a pulse signal once, clears the distance record data, re-assigns the value, records the generation times of the pulse signal when the encoder unit generates the pulse signal once, generates pulse frequency data and marks the pulse frequency data as Pt, and performs product operation on the pulse frequency data and the pulse transmission set distance data to obtain calculated distance data;
s23: when the locomotive runs to the position of the card, the card reader reads the card and obtains card information, wherein the card information comprises card position data, distance deviation limiting data is preset in the locomotive positioning module and marked as RMs, the calculated distance data and the card position data are subjected to difference operation, the absolute value of the operation result is obtained, and the calculated deviation data is marked as Cd;
s24: comparing the calculated deviation data with the distance deviation limiting data, judging that the calculated deviation data is abnormal deviation when the calculated deviation data is greater than the distance deviation limiting data, and generating a warning signal; when the calculated deviation data is less than or equal to the distance deviation limiting data, judging the card to be normal deviation, taking the read card position data as basic position data, resetting the pulse frequency data, and then recounting according to a formula: and obtaining the accurate position data of the current locomotive by the basic position data, the pulse frequency data and the pulse transmitting set distance data.
3. The artificial intelligence based autonomous traveling system of an electric locomotive according to claim 1, wherein the state monitoring and controlling module comprises a turnout state monitoring and controlling unit, a damper state monitoring and controlling unit and a signal lamp state monitoring and controlling unit;
the turnout state monitoring control unit comprises a signal transceiver Ai, a signal transceiver Ai ' and a turnout switch machine, wherein i represents the number of a turnout of a track, i is 1,2,3 … … n1, the signal transceiver Ai is fixedly installed on a locomotive and moves along with the locomotive, the signal transceiver Ai ' is fixedly installed on one side of the turnout switch machine, the turnout switch machine is installed on the turnout of the track, the signal transceiver Ai ' acquires turnout state data of the turnout of the current track through a travel switch, marks the turnout state data as DTi and sends the DTi to the signal transceiver Ai, and the signal transceiver Ai transmits the turnout state data to the data processing module through serial port communication;
the throttle state monitoring control unit comprises a signal transceiver BJ and a signal transceiver BJ ', wherein j represents the number of the throttle, j is 1,2,3 … … n2, the signal transceiver BJ is fixedly mounted on a locomotive and moves along with the locomotive, the signal transceiver BJ ' is fixedly mounted on one side of the throttle, the signal transceiver BJ ' monitors throttle state data through a travel switch and marks the data as FMj, the throttle state data are sent to the signal transceiver BJ, and the signal transceiver BJ transmits the throttle state data to a data processing module through serial port communication;
the signal light state monitoring control unit comprises a signal transceiver Ck and a signal transceiver Ck ', wherein k represents the number of signal lights, k is 1,2,3 … … n3, the signal transceiver Ck is fixedly installed on a locomotive and moves along with the locomotive, the signal transceiver Ck ' is electrically connected with the signal lights, the signal light state comprises three switching value channels, namely a red light state, a yellow light state and a green light state, the three color states respectively correspond to the three switching value channels and comprise a red switching value channel, a yellow switching value channel and a green switching value channel, when the signal lights are in the red light state, the red switching value channel generates a high-level red light signal, the yellow switching value channel and the green switching value channel both generate a low-level yellow light signal and a low-level green light signal, the signal transceiver Ck ' receives the high-level red light signal and marks the high-level red light signal as GPRk, receives the low-level yellow light signal and marks the low-level yellow light signal as DPYk, receiving a low-level green light signal and marking the low-level green light signal as DPGk;
when the signal lamp is in a yellow light state, the yellow switching value channel generates a high-level yellow light signal, and the red switching value channel and the green switching value channel both generate a low-level red light signal and a low-level green light signal, the signal transceiver Ck' receives the high-level yellow light signal and marks the high-level yellow light signal as GPYk, receives the low-level red light signal and marks the low-level red light signal as DPRk, and receives the low-level green light signal and marks the low-level green light signal as DPGk;
when the signal lamp is in a green state, the green switching value channel generates a high-level green light signal, the red switching value channel and the yellow switching value channel generate a low-level red light signal and a low-level yellow light signal, the signal transceiver Ck' receives the high-level green light signal and marks the high-level green light signal as GPGk, receives the low-level red light signal and marks the low-level red light signal as DPRk, receives the low-level yellow light signal and marks the low-level yellow light signal as DPYk, and the signal receiver Ck transmits the generated signals to the data processing module through serial port communication.
4. The artificial intelligence based autonomous driving system of an electric locomotive according to claim 1, wherein the data processing module performs the identification processing by the following specific steps:
s41: the data processing module receives the turnout state data, extracts turnout demand state data corresponding to the serial number from the data storage module, compares the turnout state data with the turnout demand state data, judges that the turnout state is correct and does not perform any operation when the comparison is successful, judges that the turnout state is wrong when the comparison is failed, and generates a switch signal;
s42: the data processing module receives the air door state data, extracts the air door demand state data corresponding to the serial number from the data storage module, compares the air door state data with the air door demand state data, judges that the air door state is correct and does not perform any operation when the comparison is successful, judges that the air door state is wrong when the comparison is failed, and generates a state change signal;
s43: the data processing module receives and identifies a high-level red light signal, a high-level yellow light signal, a high-level green light signal, a low-level red light signal, a low-level yellow light signal and a low-level green light signal, determines that the signal lamp is in a red light state when the high-level red light signal, the low-level yellow light signal and the low-level green light signal are identified simultaneously, generates a parking signal, determines that the signal lamp is in a yellow light state when the high-level yellow light signal, the low-level red light signal and the low-level green light signal are identified simultaneously, generates a low-speed driving signal, determines that the signal lamp is in a green light state when the high-level green light signal, the low-level yellow light signal and the low-level red light signal are identified simultaneously, and generates a normal driving signal.
5. The artificial intelligence based autonomous driving system of an electric locomotive according to claim 3, wherein the specific steps of the status monitoring control module identification processing are as follows:
s51: when a switch signal is identified, the turnout monitoring control unit sends a switch instruction to the signal transceiver Ai' with the corresponding number to control the turnout switch machine to switch;
s52: when the state change signal is recognized, the air door state monitoring control unit sends a state change command to the signal transceiver Bj' with the corresponding number, if the air door state is in an open state, the air door state monitoring control unit changes the air door state to a closed state, and if the air door state is in a closed state, the air door state monitoring control unit changes the air door state to an open state.
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