RU2243592C1 - System for remote control of building materials transportation - Google Patents

Abstract

FIELD: means for controlling and recording vehicle runs.

SUBSTANCE: system has, in each controlled object, pressure sensors, body position sensors, fuel flow sensors, passed way sensor, AND element, coding block, transmitter, high frequency generator, phase manipulator, power amplifier, receiving and transmitting antennae, GPs-signals receiver, microprocessor for navigational calculations, duplexer, first and second multipliers, narrowband filter and lower frequency filter, and at control station broadband receiver, decoder, recording block, forbidding element, pulse duration former, receiving and transmitting antennae, high frequency amplifier, search block, heterodyne, mixer, intermediate frequency amplifier, amplitude detector, first and second multipliers, narrowband filter, lower frequency filter, key, frequency meter, counter of passed way, additional recording block, GPS-signals detector, computer for making navigation corrections, coding block, transmitter, high frequency generator, phase manipulator, power amplifier and duplexer.

EFFECT: broader functional capabilities.

9 dwg

Description

The proposed system relates to the field of technical means of control and registration of flights, can be used for transportation of solid and bulk construction cargo by dump trucks and special machines.

Known systems and devices for accounting for transported cargo dump trucks, trailers, garbage trucks, etc. (ed. certificate of the USSR No. 215, 536, G 01 D 5/248, 1967; No. 477.330, G 01 M 13/60, 1972; No. 498636, G 07 s 5/08, 1974; No. 696.508, G 07 s 5/10, 1977; No. 769.581, G 07 with 5/10, 1978; No. 830.447, G 07 with 5/08, 1977; No. 1.123.041, G 07 with 5/08, 1983, RF patent No. 2.184.992 , G 07, dated 5/08, 2000; Khramtsov Yu.V., Figurnov N.V., Shur O.Z. Modern methods of obtaining and processing experimental data when testing automobiles. Research Institute of Automotive Industry. M., 1975 and others).

Of the known devices, the closest to the proposed one is the “Device for accounting flights of dump trucks” (RF patent No. 2.184.992, G 07 from 5/08, 2000), which is chosen as the closest analogue.

The specified device provides accounting for flights, fuel consumption and the distance traveled by dump trucks, but does not allow to determine their location.

The objective of the invention is to expand the functionality of the device by determining the location of dump trucks.

The problem is solved in that a remote control system for the transportation of building materials containing on each monitored dump truck a pressure sensor connected in series, element I, the second input of which is connected to the output of the body position sensor, a coding unit, the second and third inputs of which are connected to the outputs of the flow sensors fuel and the distance traveled, respectively, a phase manipulator, the second input of which is connected to the output of the high-frequency generator, and a power amplifier, and at A receiving antenna and a series-connected high-frequency amplifier, a mixer, the second input of which is connected through the local oscillator to the output of the search unit, an intermediate-frequency amplifier, a first multiplier, a second input of which is connected to the output of a low-pass filter, a narrow-band filter, and a second multiplier, the second input of which is connected with the output of an intermediate-frequency amplifier, a low-pass filter and a decoder, the outputs of which are connected by the number of controlled dump trucks, executive units, each of which consists of a prohibition element, a recording unit and a pulse width generator connected in series to the decoder, the output of which is connected to the prohibiting output of the prohibition element, while an amplitude detector, a key, the second input of which is connected to the second output of the local oscillator, a frequency meter and an additional registration unit, the second, third and fourth inputs of which are connected directly and through a fuel consumption meter and a trip meter with With the corresponding outputs of the decoder, each monitored dump truck is equipped with a receiving antenna, a GPS signal receiver, a microprocessor, a transceiver antenna, a duplexer, two multipliers, a narrow-band filter and a low-pass filter, with a GPS signal receiver and a microprocessor connected in series to the output of the receiving antenna with the fourth input of the coding unit, a duplexer is connected to the output of the power amplifier, the input-output of which is connected to the transceiver antenna, the first multiplier, the second input of which is connected to the output of the low-pass filter, a narrow-band filter, the second multiplier, the second input of which is connected to the output of the duplexer, and the low-pass filter, the output of which is connected to the second input of the microprocessor, and the control point is equipped with a GPS-signal receiver, computational a machine, a high-frequency generator, a phase manipulator, a power amplifier, a duplexer and a transceiver antenna, and a GPS signal receiver is connected in series to the output of the receiving antenna, calculate one machine, a coding unit, a phase manipulator, the second input of which is connected to the output of the high-frequency generator, a power amplifier and a duplexer, the input-output of which is connected to the transceiver antenna, and the output is connected to the input of the high-frequency amplifier, the fifth input of the additional registration unit is connected to the output coding unit, receiving antennas of controlled dump trucks and a control point through radio channels are connected to transmitting antennas of the satellites of the Navstar navigation system, transmitting and receiving antennas S controlled dump trucks through radio channels are connected to the transmitting and receiving antenna of the control point.

The structural diagram of the on-board equipment of the system installed on each truck, shown in figure 1. The structural diagram of the stationary equipment of the system installed at the control point is presented in figure 2. Timing diagrams explaining the operation of the system are shown in Fig.3.

The system contains at each controlled object a pressure sensor 1 connected in series, element And 3, the second input of which is connected to the output of the body position sensor 2, an encoding unit 4, the second and third inputs of which are connected to the outputs of the fuel consumption sensor 11 and the sensor 12 of the distance traveled, a phase manipulator 14, the second input of which is connected to the output of the high-frequency generator 13, a power amplifier 15, a duplexer 36, the input-output of which is connected to the transmit-receive antenna 16, the first multiplier 37, the second input to narrowly connected to the output of the low-pass filter 40, a narrow-band filter 39, a second multiplier 38, the second input of which is connected to the output of the duplexer 36, and a low-pass filter 40. A GPS receiver 34 and a microprocessor 35 are connected in series to the output of the receiving antenna 33, the second input of which is connected to the output of the low-pass filter 40, and the output is connected to the fourth input of the coding unit 4. The high-frequency generator 13, the phase manipulator 14 and the power amplifier 15 form a transmitter 5.

The system includes a receiving antenna 17, a GPS receiver 42, a computer 43, an encoding unit 44, a phase manipulator 47, the second input of which is connected to the output of a high-frequency generator 46, a power amplifier 48, a duplexer 49, and an input-output at the control point which is connected to the transceiver antenna 41, a high-frequency amplifier 18, a mixer 21, the second input of which through a local oscillator 20 is connected to the output of the search unit 19, an intermediate-frequency amplifier 22, a first multiplier 24, the second input of which is connected with the output of the low-pass filter 27, a narrow-band filter 26, a second multiplier 25, the second input of which is connected to the output of the intermediate-frequency amplifier 22, a low-pass filter 27 and a decoder 7, to the outputs of which executive units are connected, according to the number of monitored objects, each of which consists of sequentially connected to the decoder 7 of the prohibition element 9, the registration unit 8 and the pulse shaper 10, the output of which is connected to the prohibiting input of the prohibition element 9, while the output of the amplifier 22 is intermediate the frequency is connected in series with an amplitude detector 23, a key 28, the second input of which is connected to the second output of the local oscillator 20, a frequency meter 29 and an additional registration unit 32, the second, third and fourth inputs of which are connected directly and through the fuel consumption meter 30, and the counter 31 of the distance traveled with corresponding outputs of the decoder 7.

The fifth input of the registration unit 32 is connected to the output of the encoding unit 44. High-frequency amplifier 18, search unit 19, local oscillator 20, mixer 21, intermediate-frequency amplifier 22, amplitude detector 23, multiplier 24 and 25, narrow-band filter 26 and low-pass filter 27 form a panoramic receiver 6. High-frequency generator 46, phase shifter 47 and power amplifier 48 form a transmitter 45. The receiving antennas 33 and 17 of the monitored dump trucks and the control point are connected via radio channels to the transmitting antennas of the satellites 50.i (i = 1, 2 ..., 24) of the Navstar navigation system. The transceiver antennas 16 of the monitored objects are connected via radio channels to the transceiver antenna 41 of the monitoring point.

The system operates as follows.

When lifting a body with a building load, the pressure in the oil line of the lifting body increases, the pressure sensor 1 gives a signal to the element FROM. The latter gives a signal only when it also receives a signal from the body position sensor 2, which will give a signal only when the body is raised to the upper position. If there are two signals from the pressure sensor 1 and the sensor 2 of the body position element FROM gives a signal to the first input of the coding unit 4.

When the truck is moving, signals from the fuel consumption sensor 11 and the sensor 12 of the distance traveled in the form of a series of pulses also arrive at the second and third inputs of the coding unit 4.

The proposed system uses the signals of the Navstar navigation system to determine the location of controlled dump trucks.

The Global Positioning System (GPS), also known as the Navstar (Navigation System with Time and Ranging), is designed to transmit navigation signals that can be received simultaneously in all regions of the world. This system includes the space segment, consisting of 24 SC 50.i (i = 1, 2 ..., 24), a network of ground-based stations for monitoring their work, and the user segment (navigation receivers of GPS signals).

The transmitters installed on the satellites of the Navstar navigation system emit a phase-shifted (FMN) signal.

U _c (t) = V _c · Cos [2π f _c t + φ _K1 (t) + φ _s ], 0≤ t≤ T _c ,

where V _c , f _c , φ _c , T _c - amplitude, carrier frequency, initial phase and signal duration;

φ _K1 (t) = {0, π} is the manipulated component of the phase that displays the law of phase manipulation in accordance with the modulating code M ₁ (t), and φ _к (t) = const at Кτ _э <t <(К + 1) · Τ _e and can change abruptly at t = Кτ _e , i.e. at the boundaries between elementary premises (K = 1, 2, ..., N-1),

τ _e , N is the duration and number of chips that make up the signal of duration T _c (T _c = Nτ _e ).

As the modulating code M (t), a pseudo-random sequence of 1023 characters in length (C / A code) is used.

The specified signal is received by the navigation receivers 34 and 42 of controlled dump trucks and a control point. The GPS signal receiver 34 sequentially captures using the receiving antenna 33 and processes the PSK signals of each satellite 50.i (i = 1, 2, ... 24) from the selected constellation. At the same time, the receiver alternately uses two main operating modes: information reception mode and navigation mode.

In the information reception mode, data of the ephemeris and time corrections necessary for the navigation mode are received, and more rare (after one minute) navigation measurements are made. In navigation mode, the location of the dump truck is updated every second and the basic navigation data is displayed.

The microprocessor 35, which is part of the on-board complex of the dump truck, performs two functions: it serves the receiver and performs navigation calculations. The first is to select a working constellation of satellites, calculate target designation data, store code phase and carrier phase estimates, synchronize by bits, frames, and control the operation of the receiver, for example, switching from the information receiving mode to the navigation mode and vice versa.

The second function of the microprocessor 35 is to calculate the ephemeris, determining the coordinates of the location of the truck. In addition, the microprocessor 35 selects a working constellation of four satellites, provides the addresses of the C / A codes of these satellites and calculates the Doppler frequency shift of the FMN signal of each satellite. Next, the receiver 34 sequentially searches and captures satellite signals, working with them for one minute (only 4 minutes per constellation). In this case, for each signal, the C / A code, carrier frequency and phase are first captured, and after synchronization by bits and frames, the satellite navigation message is selected and stored. The phase of the code, the frequency and phase of the carrier of each satellite are also stored in order to facilitate re-capture of the signal during operation in the subsequent navigation mode.

The receiver 34 operates in navigation mode as long as the geometry of the satellites remains satisfactory or until the ephemeris is outdated. To update the ephemeris, the navigation mode is interrupted and the receiver 34 is entered into the repeated mode of receiving information. In this case, the same sequence of operations is observed as in the initial mode, however, between transitions to the next mode to clarify your location. This order of alternating modes occurs automatically throughout the entire time the truck is moving.

To determine two location coordinates (latitude and longitude), measurements from three satellites are required. In this receiver, information from the fourth “extra” satellite may be necessary during various maneuvers of the dump truck, when it is possible to obscure the signals of one or more satellites.

Information about the location of the dump truck from the microprocessor 35 is supplied to the fourth input of the coding unit 4. The coding unit 4 generates a modulating code M ₁ (t) (Fig. 3, b), in which information about the license plate of the dump truck, the amount of lifting of the body with construction load, fuel consumption, the distance traveled and the location of the dump truck are “sewn up”. The modulating code M ₁ (t) contains N ₁ chips of duration τ _e1 . At the same time, the first n elementary parcels carry digital information about the license plate number of the truck, m elementary parcels are given to the amount of lifting of the body with building load, 1 elementary parcels report fuel consumption, z elementary parcels reflect the distance traveled and q elementary parcels carry information about the location of the dump truck (N ₁ = n + m + l + z + q).

The modulating code M ₁ (t) (Fig. 3, b) from the output of the coding unit 4 is fed to the first input of the phase manipulator 14, to the second input of which harmonic oscillation is output from the output of the generator 13 (Fig. 3, a)

U ₁ (t) = V ₁ Cos (27π f ₁ t + φ ₁ ), 0≤ t≤ T ₁ ,

where V ₁ , f ₁ , φ ₁ , T ₁ - amplitude, carrier frequency, initial phase and duration of the oscillation.

At the output of the phase manipulator 14, an FMN signal is generated (Fig. 3, c)

U ₂ (t) = V ₁ · Cos [2π f ₁ t + φ _K1 (t) + φ ₁ ], 0≤ t≤ T ₁ ,

which, after amplification in the power amplifier 15 and passage through the duplexer 36, is transmitted to the air using the transceiver antenna 16.

It should be noted that each dump truck has its own modulating code M ₁ (t) and carrier frequency f _i (i = 1, 2 ..., S), where S is the number of controlled dump trucks.

At the control point, the search for PMI signals belonging to various dump trucks is carried out using a panoramic receiver 6. For this, the search unit 19 periodically with a period T _p, according to a sawtooth law, changes the frequency f _{g of the} local oscillator 20.

Received FMN signal U ₂ (t) from the output of the transceiver antenna 41 through the duplexer 49 and the high-frequency amplifier 18 is supplied to the first input of the mixer 21, the second input of which supplies the local oscillator voltage 20

U _g (t) = V _g Cos (2π f _g t + π γ · t ² + φ _g ), 0≤ t≤ T _p ,

where U _g , U _g , f _g , φ _g , φ _g , T _p - amplitude, initial frequency, initial phase and the repetition period of the local oscillator voltage,

γ = Df / T _p - rate of change of the local oscillator frequency (speed of viewing a given frequency range Df).

At the output of the mixer 21, voltages of combination frequencies are generated. The amplifier 22 is allocated the voltage of the intermediate (differential) frequency (Fig.3, g)

U _pr (t) = V _pr · Cos [2π · f _{pr · t + φ K1 (t)} -π · γ · t + φ ² _etc.], 0≤ t≤ T _1,

where V _pr = _^1/2 K ₁ · V ₁ · V _d,

f _CR = f ₁ -f _g - intermediate frequency;

φ _pr1 = φ ₁ -φ _g ;

K ₁ - gear ratio of the mixer,

which is fed to the inputs of the multipliers 24 and 25. The second input of the multiplier 25 is supplied with voltage from the output of the narrow-band filter 26 (Fig.3, d)

U ₃ (t) = V ₃ · Cos (2π · f _pr · t-π · γ · t + φ ² _etc.), 0≤ t≤ T _1.

At the output of the multiplier 25, a low-frequency voltage is generated (Fig. 3, c)

U _H1 (t) = V _H1 Cosφ _K1 (t), 0≤ t≤ T ₁ .

where v _h1 = _^1/2 K · V ₂ · V _{3, etc.;}

K ₂ - transfer coefficient of the multiplier,

proportional to the modulating code M ₁ (t) (Fig.3, b), which is allocated by the low-pass filter 27.

This voltage is supplied to the second input of the multiplier 24, the output of which produces a voltage U ₃ (t) (Fig. 3, d), which is emitted by a narrow-band filter 26. The voltage U _Н1 (t) from the output of the low-pass filter 27 is simultaneously fed to the decoder input 7, which, depending on the vehicle code, gives a signal through the entry prohibition element 9 of the registration unit 8. The check-in block 8, having received and remembering the signal that the flight has been made, gives a signal to the former 10, which closes with the help of the ban element 9 the check-in block 8 from the decoder for the minimum flight time, excluding the false offset of the flight in the check-in block 8 when the body is re-lifted in case of building material sticking to the walls of the body. In addition, when lifting an empty body, the pressure sensor 1 will not give a signal.

The voltage U _CR (t) (Fig. 3, d) simultaneously enters the input of the amplitude detector 23, which selects its envelope V _HELL (Fig. 3, g), the latter enters the control input of the key 28, opening it. In the initial state, the key 28 is always closed. The voltage U _g (t) of the local oscillator 20 through the public key 28 is supplied to the input of the frequency meter 29, where the carrier frequency f _{1 of the} received FMN signal is measured

f ₁ = f _g1 + f _PR ,

where f _g1 - the frequency of the local oscillator at a given time.

The measured value of the carrier frequency is recorded by the registration unit 32, where the on-board number of the dump truck, the distance traveled by it, the fuel consumption and the location of the dump truck are simultaneously recorded.

The standard GPS signal receiver is removable and manufactured by industry in standard packaging (SDS-221). The specified device provides a satellite detection time of not more than 3-4 minutes and an error in determining the coordinates of a dump truck not more than 100 m.

To improve the accuracy of determining the location of the truck in the proposed system, the method of differential corrections is used, which is based on the application of the principle of differential navigation measurements known in radio navigation.

The differential mode allows you to determine the coordinates of the observed vehicle with an accuracy of 5 m in a dynamic navigation environment and up to 2 m in stationary conditions. Differential mode is implemented using the control receiver 42 GPS signals installed at the control point. The latter is located in a place with known geographical coordinates in the same area as the main receiver 34 GPS signal installed on the vehicle and makes it possible to simultaneously track satellites 50.i (i = 1, 2, ..., 24) of the navigation Navstar systems. Comparing the known coordinates obtained as a result of precision geodetic surveying with the coordinates measured using the GPS receiver 42, the computer 43 determines the corrections that are converted using the coding unit 44 into the modulating code M ₂ (t) received at the first input of the phase manipulator 47 and to the registration unit 32. At the second input of the phase manipulator 47, the voltage of the high-frequency generator 46 is supplied

U ₄ (t) = V ₂ · Cos [2π f ₂ t + φ ₂ ], 0≤ t≤ T ₂ .

The output of the phase manipulator 47 produces an FMN signal

U ₅ (t) = V ₂ · Cos [2π f ₂ t + φ _к2 (t) + φ ₂ ], 0≤ t≤ T ₂ ,

which, after amplification in the power amplifier 48 and passing through the duplexer 49 by means of a transceiver antenna 41, is radiated into the air.

The specified FMN signal is received by the antenna 16 and through the duplexer 3 is supplied to the first inputs of the multipliers 37, 38. The voltage from the output of the narrow-band filter 39 is supplied to the second input of the multiplier 38

U ₆ (t) = V ₆ · Cos [2π f ₂ t + φ ₂ ], 0≤ t≤ T ₂ ,

The output of the multiplier 38 produces a low-frequency voltage

U _H2 (t) = V _H2 Cosφ _K2 (t), 0≤ t≤ T _2,

where V _H2 = _^1/2 K ₂ · V ₂ · V _6;

proportional to the modulating code M ₂ (t), which is allocated by the low-pass filter 40 and fed to the second input of the multiplier 37. At the output of the multiplier 37, a voltage U ₆ (t) is generated, which is allocated by a narrow-band filter 39. The voltage U _H2 (t) from the output of the filter 40 low frequencies simultaneously enters the second input of the microprocessor 35, where the location of the vehicle is specified. Therefore, the calculated corrections at the control point are transmitted to the vehicle over the air in a predetermined format. Corrections accepted from the control point are automatically entered into the results of the vehicle’s own measurements. The updated value of the location of the dump truck over the air is again transmitted to the control point.

To exchange information between controlled dump trucks and a control point, radio channels using two frequencies f ₁ , f ₂ and complex FMN signals with high energy and structural secrecy are used.

The energy secrecy of these signals is due to their high compressibility in time or in the spectrum with optimal processing, which reduces the instantaneous radiated power. As a result, a complex PSK signal at the receiving point may be masked by noise. Moreover, the energy of a complex FMN signal is by no means small; it is simply distributed over the time-frequency domain so that at each point of this region the signal power is less than the noise power.

The structural secrecy of complex FMN signals is due to the wide variety of their forms and significant ranges of parameter values, which makes it difficult to optimize or at least quasi-optimal processing complex FMN signals of an a priori unknown structure.

Thus, the proposed system, in comparison with the prototype and other technical solutions of a similar purpose, provides not only the accounting of flights, fuel consumption and the distance traveled by dump trucks, but also allows to determine their location with high accuracy at any time. In addition, this system allows you to free personnel engaged in accounting and registration of operational indicators of vehicles, and provides for the possibility of a single dispatch at the construction complex. Thus, the functionality of the closest analogue is expanded.

Claims (1)

A system for remote control of the transportation of building materials, containing on each monitored dump truck a pressure sensor connected in series, element I, the second input of which is connected to the output of the body position sensor, a coding unit, the second and third input of which are connected to the outputs of the fuel consumption sensors and the distance traveled, respectively, a phase manipulator, the second input of which is connected to the output of the high-frequency generator, and a power amplifier, and at the control point, a receiving antenna and a follower but the included high-frequency amplifier, a mixer, the second input of which is connected through the local oscillator to the output of the search unit, an intermediate frequency amplifier, a first multiplier, a second input of which is connected to the output of a low-pass filter, a narrow-band filter, a second multiplier, the second input of which is connected to the output of the intermediate amplifier frequencies, a low-pass filter and a decoder, the outputs of which are connected by the number of monitored dump trucks, executive units, each of which consists of a series-connected x to the decoder of the prohibition element, the registration unit and the pulse width former, the output of which is connected to the prohibiting input of the prohibition element, while the amplitude detector, the key, the second input of which is connected to the second output of the local oscillator, a frequency meter and an additional registration unit are connected to the output of the intermediate-frequency amplifier , the second, third and fourth inputs of which are connected directly and through the fuel consumption meter and the distance traveled counter with the corresponding outputs of the decoder, exl in that each monitored dump truck is equipped with a receiving antenna, a GPS signal receiver, a microprocessor for performing navigation calculations, a transceiving antenna, a duplexer, two multipliers, a narrow-band filter and a low-pass filter, with a GPS signal receiver and a microprocessor connected in series to the output of the receiving antenna to perform navigation calculations, the output of which is connected to the fourth input of the coding unit, a duplex is connected to the output of the power amplifier the input-output of which is connected to the transceiver antenna, the first multiplier, the second input of which is connected to the output of the low-pass filter, a narrow-band filter, the second multiplier, the second input of which is connected to the output of the duplexer, and the low-pass filter, the output of which is connected to the second input of the microprocessor for performing navigation calculations, and the control point is equipped with a GPS signal receiver, a computer for performing navigation calculations, a high-frequency generator, a phase manipulator, a power amplifier a duplexer and a transceiver antenna, and a GPS signal receiver, a computer for performing navigation calculations, a coding unit, a phase manipulator, the second input of which is connected to the output of a high-frequency generator, a power amplifier and a duplexer, input-output are connected to the output of the receiving antenna which is connected to the transceiver antenna, and the output is connected to the input of the high-frequency amplifier, the fifth input of the additional registration unit is connected to the output of the coding unit, receiving antennas controlled dump and item control over the radio channels are connected to the navigation system satellites transmit antennas "Navstar", antenna controlled dump via the radio channels are connected to the transmission-reception antenna control points.

Images