CN102923135A - Wireless sensor network based intelligent control method for movement of train set - Google Patents
Wireless sensor network based intelligent control method for movement of train set Download PDFInfo
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- CN102923135A CN102923135A CN2012104521475A CN201210452147A CN102923135A CN 102923135 A CN102923135 A CN 102923135A CN 2012104521475 A CN2012104521475 A CN 2012104521475A CN 201210452147 A CN201210452147 A CN 201210452147A CN 102923135 A CN102923135 A CN 102923135A
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Abstract
The invention discloses a wireless sensor network based intelligent control method for movement of a train set, and belongs to the field of application and automatic control of embedded Internet of things. The whole train set is divided into a train head part and a compartment part, wherein the train head part comprises a central control unit, a wireless communication unit and a sensor unit; the wireless communication unit uses a zigbee network; the compartment part comprises compartment central control units, compartment wireless communication units, compartment motor control units and compartment sensor units; the compartment wireless communication units use zigbee networks to transmit data to the compartment central control units; motors rotate to realize the movement of compartments; and ultrasonic sensors in the compartment sensor units are used for acquiring distances between two compartments and feeding back the distances to the compartment central control units to adjust the movement of the compartments in real time, so as to ensure the compartments are at stable positions in the train set. By the wireless sensor network based intelligent control method for the movement of the train set, the transportation capability of the train set is improved, the cost is reduced, and the flexibility and safety of the transportation environment are increased.
Description
Technical field
Car team sport intellect control based on wireless sensor network is a kind of new vehicle motion control theory that possesses controlled in wireless, automatic danger-avoiding, road memory function, combine radio communication function, positioning function and Sensor monitoring function, belong to embedded Internet of Things and use and automation field.
Background technology
This intelligence control method is for the car team transport field that is used for large Material Transportation with headstock and more piece compartment composition.Its technology that is applied to comprises: wireless sensor network technology, zigbee is wireless automatic network-building technology and sensor technology.
Wireless sensor network (WSN, Wireless Sensor Networks) by one group of dense layout, the wireless self-organization network that forms of the sensor of spreading at random, its objective is the information of perceptive object in the geographic area of collaboratively perception, the acquisition and processing network coverage, and be distributed to gateway.
Zigbee automatic network-building technology is based on the basis of the communication of IEEE 802.15.4 agreement.Technology according to this agreement regulation is the wireless communication technology of a kind of short range, low-power consumption.Both can realize the MANET radio communication of data, and also can utilize a plurality of nodes that are distributed in the environment to realize accurate positioning function.In the car team sport intellect control method based on wireless sensor network, fully be applied to the technical advantage of zigbee in sensor network:
Automatic network-building: it is automatic network-building that all modules power on, Coordinator distributes the address automatically for all nodes, do not need user's manual allocation address, the professional ZigBee networking flow processs such as network adds, replys, be beneficial to freely controlling of compartment in the car team, add at any time or the deletion car team in a certain joint compartment and the motion of whole vehicle body is not had any impact;
Each node (Coordinator in the network, Router) all has the discovering network topology function, as long as there is a node to work, then new node can add network by this node, thereby guaranteed the reliability of car team communication, the adding in any joint compartment or withdraw from and can not have influence on the communication of whole car team.
Be simple and easy to use: the user can be fully autonomous writes corresponding communication protocol, guarantees that the maximization of resource in data transfer procedure is used, and does not waste transfer resource as far as possible.
The rectification regulation technology of sensor is to guarantee that the compartment part can be stable, that coordinates operates in important leverage in the car team, this regulative mode is based on some sensors that each and every one are positioned at the compartment front end, by the detection to distance between the compartment, in the motion process in compartment, it is carried out the speed fine setting, thereby realize the coordination control of whole vehicle body.
Along with the fast development of China's economic, logistic industry, the extensive transportation of goods and materials has become a bottleneck of puzzlement development of logistics line.Traditional transportation means such as pony truck and trailer otherwise be exactly too little, transport capacity is large not, or be exactly too heavy, use safe not, alerting ability is poor too.Based on this present situation, we can carry out automatic flexible networking with whole transportation car team at this novel car team sport intellect control method based on wireless sensor network of design, the compartment can add car team at any time when needing, can free deviated from network after task is finished.Simultaneously can carry out controlled in wireless to fleet by wireless technology, location technology, allow fleet realize automatic Pilot, to advance.Use technique can well obtain the effect of control traffic cost, expansion transport capacity.
Therefore, our car team sport intellect control method is the application with a kind of technology of Internet of things, control the coordination control of car team in fortune merits and demerits journey that is formed by the compartment of headstock and more piece individual drive with the form of wireless sensor network, guarantee safety and the alerting ability of its car team motion.We can guarantee that the car team motion is smooth at present, realize headstock carry 5-10 joint compartment under the prerequisite of safety.
Summary of the invention
Car team sport intellect control method based on wireless sensor network is a kind of control method that is directed under large goods and materials, the overlength vehicle body types of transportation, and it has well solved, and the conventional trailer on the go is not easy to operate, the problem of poor stability.Under current master mode, headstock adopts independent power, physically separates fully with the compartment, and intelligence control system is distributed on headstock and the some compartments, forms a control net, the operation in control headstock and all compartments.
It is control device that the present invention adopts ARM chip, fpga chip and the digital signal processor (DSP) of main flow, the application of combined with radio communication technology and sensor technology realizes that train is to the Intellisense of environment, to the automatic adaptation of road conditions, and store current driving path, optimize the motion circuit.
A kind of car team sport intellect control method based on wireless sensor network provided by the invention, its hardware supported is as follows:
In the control of car team type transportation means, we are divided into two parts of headstock and compartment to whole car team:
Headstock partly comprises Central Processing Unit (CPU), radio communication unit, sensor unit, sensor unit is realized the road conditions data acquisition, comprise speed sensor, infrared pickoff, ultrasonic transduter, be responsible for respectively gathering the rotating speed of wheel and calculating steering angle, the place ahead Obstacle Position, obstacle distance; Central Processing Unit (CPU) is realized the processing of image data is calculated, and can adopt ARM commonly used, FPGA process chip; Data after radio communication unit then is responsible for processing are transmitted, and radio communication unit adopts Zigbee-technology, whole car team can be formed a small-sized control area net（CAN）, is one of characteristic of this car team intelligence control method.
The compartment part comprises controls the unit, compartment radio communication unit, compartment motor control unit, compartment sensor unit in the compartment.The compartment wireless communication unit adopts Zigbee-technology, be responsible for receiving the data that headstock sends, and send to and control the unit in the compartment, the control unit can adopt in the compartment, specifically can adopt simple 51 chips can satisfy processing to data, then the data after will processing send to the compartment motor control unit, the compartment motor control unit is by forming with driving chip and voltage modulation circuit, the data that receive are processed, control signal is converted to the pwm signal that can directly control motor, the control motor begins to rotate, realize the motion in compartment, the movable information in compartment all derives from the motion control signal of headstock part in the motion process, can guarantee that like this compartment imitates the path of motion of headstock in the situation of individual drive, realize that the compartment is to the tracking of headstock, simultaneously the ultrasonic transduter in the compartment sensor unit is responsible for the distance between Cai Ji Both joint compartment, and feeds back to and control the unit in the compartment, real-time adjustment is made in the motion in compartment, guaranteed that the compartment is in stable position in car team.
This kind car team control method can realize the intellectuality of car team, and function comprises:
The intelligent hedging of car team, when the complicated dangerous road conditions, whether car team automatic decision the place ahead exists obstacle, and correspondingly take to dodge, anxious processing mode of stopping;
The Long-distance Control of car team, operating personal can carry out controlled in wireless to headstock by radio communication, allows car team realize driverless operation;
The automatic acquisition in car team path, after the first train passes through specified path, obtained the vehicle wheel rotational speed in the current driving process, steering angle, by calculating, draw the driving path of car team, pass through communication, with path feedback and store, can be used as the reference of travelling in the situations such as dense fog, road environment sudden change;
Travelling of flexible car team, in railless situation, this control method can realize the characteristics of similar track car team transportation, has reduced the cost of transportation, has more improved the alerting ability of transportation environment.
This kind intelligence control method has not only improved the car team transport capacity, more utilizes its individual drive, and the physical separation characteristic has reduced traffic cost, has improved alerting ability, the safety of transportation environment.
Description of drawings
Fig. 1: based on the car team sport intellect control method structural representation of wireless sensor network;
Fig. 2: based on the wireless sensor network Small-scale LAN scheme drawing of zigbee;
Fig. 3: sensor-based compartment control and regulation scheme drawing;
Fig. 4: headstock routing information memory scheme drawing.
The specific embodiment
The present invention is described further below in conjunction with drawings and Examples.
As shown in Figure 1, under this car team sport intellect control method based on wireless sensor network, we have taked the individual drive of body portion, the wireless sensor network that relies on wireless communication unit to form forms a small-sized local area network with whole trailer, realize the coordination of vehicle body is controlled by information communication, gather distance between the car compartment by the compartment sensor unit simultaneously, Real Time Monitoring, by data analysis, status of action is adjusted in real time, thereby well avoided traditional pulling mode under body freely uncontrollable, the unsafe condition of the long appearance of vehicle body.
The wireless senser based on zigbee that is applied in the wireless communication unit is with on each the joint compartment and headstock in the needs control car team of the zigbee Module-embedding in the wireless sensor network, whole car team is formed a small-sized local area network (such as Fig. 2), every joint compartment is considered as a node in the network, headstock is made as coordinator node, the compartment is each node in the network, when needs increase or delete a compartment be, coordinator node in the local area network will be found change automatically, and the node of distributing address or deletion to leave for the new node that adds.In the process of vehicle conduct, vehicle wheel rotational speed, steering angle to the current headstock of compartment transmission that headstock is real-time, make the compartment can make the correct action of travelling, headstock is as the combinator of whole network simultaneously, the path of can the Real-time Feedback car team passing through, and draw out the track that vehicle travels at present.
In vehicle operating, headstock partly is responsible for selecting concrete control method, comprises wireless control mode, driving model.After vehicle passes through concrete path, by being embedded in the vehicle wheel rotational speed of headstock operative sensor Real-time Collection headstock, steering angle, these data are kept in the formation (such as Fig. 3), the strategy of the first in first out that formation is adopted has guaranteed the succession of data acquisition and transmission, and each data segment has comprised vehicle wheel rotational speed and the steering angle of the destination address of accepting data and current headstock.
We utilize wireless network transmissions in compartment subsequently these data, and the compartment calculates effective executions moment of information by to the analysis of data, preliminary imitation the operational process of headstock.Meanwhile, the compartment sensor unit (Fig. 4) that is embedded in the compartment will be to the compartment fine setting of moving, and they realize the quantification of signal by the distance X between Real-time Collection and front truck by the A/D conversion.Made up simultaneously the piecewise function of a speed and distance, in the active distance that has between the compartment, be divided into acceleration, constant speed, three speed class that slow down are when the compartment hypertelorism, rear car accelerates to catch up with front truck, reach optimum distance, so just guaranteed its harmony in car team, thereby realized the path trace for headstock.
The workflow of this kind intelligence control method is as follows:
1. neat the parking of headstock and each independent compartment is straight line, the master mode of control personnel selection headstock is arranged, comprise Wireless remote control, automatic danger-avoiding, named place of destination automatic navigation;
2. open the compartment wireless communication unit in each compartment, the compartment sensor unit, then start headstock, realize travelling of car team, in motion process, headstock ceaselessly gathers the vehicle wheel rotational speed of self, the steering angle data, be positioned at simultaneously the vehicle wheel rotational speed of the sensor unit Real-time Collection headstock of headstock, steering angle, the Central Processing Unit (CPU) that is positioned at headstock calculates these data centralizations, draws the motion control data (vehicle wheel rotational speed in compartment, steering angle), and respectively these two kinds of data communication devices are crossed zigbee module transmission compartment, store simultaneously, as the important parameter of drawing path;
3. after the compartment receives the motion control data of headstock, directly by controlling the unit in the compartment, will control data transfer and become motor control signal, send to the compartment motor control unit, realize the preliminary tracking in compartment;
4. be positioned at the compartment sensor unit on the compartment, in the situation of the preliminary motion in compartment, gather compartment and headstock, distance between the compartment, and calculate this and adopt out a kind of in three kinds of patterns of acceleration, constant speed, deceleration in the compartment active distance scope, the real-time motion adjustment to car team guarantees that car team guarantees the level and smooth of integral body in can moving again;
5. final, all data will feed back, at the vehicle wheel rotational speed that receives the headstock transmission, behind the steering angle, utilize rendering computer to go out the Ferry Status of car team, realize the car team Real Time Monitoring, these data will be saved in the assigned data storehouse simultaneously, as the reference of travelling of this road in the situations such as dense fog, road environment sudden change.
In sum, the car team sport intellect control method based on wireless sensor network is a kind of novel intelligent transportation mode that carries out the car team transportation at large goods and materials, zone of ignorance.It has namely been avoided in the car team transportation because the potential safety hazard that the long vehicle body causes has realized compartment individual drive control simultaneously, and follow in intelligent path, and driving path feeds back multiple utility function.In addition, utilize this kind technology, we can expand multiple application simultaneously, and such as utilizing path trace, the automated intelligent that is implemented in bulk storage plant, dock container is sought goods, the automobile navigation of specified path, a large amount of relief goods of zone of ignorance, war material transportation etc.Therefore, be that a kind of typical Internet of Things is used based on the car team sport intellect control method of wireless sensor network, the car team transport capacity be will significantly improve, and safety and the alerting ability of its transportation guaranteed.
Claims (1)
1. based on the car team sport intellect control method of wireless sensor network, it is characterized in that:
Whole car team is divided into headstock and compartment two parts:
Headstock partly comprises Central Processing Unit (CPU), radio communication unit, sensor unit, sensor unit is realized the road conditions data acquisition, comprise speed sensor, infrared pickoff and ultrasonic transduter, be responsible for respectively gathering the rotating speed of wheel and calculating steering angle, the place ahead Obstacle Position, obstacle distance; Central Processing Unit (CPU) is realized the processing of image data is calculated, and Central Processing Unit (CPU) adopts ARM or FPGA process chip; Data after radio communication unit then is responsible for processing are transmitted, and radio communication unit adopts the zigbee network;
The compartment part comprises controls the unit, compartment radio communication unit, compartment motor control unit, compartment sensor unit in the compartment; The compartment wireless communication unit adopts the zigbee network, be responsible for receiving the data that headstock sends, and send to and control the unit in the compartment, control the unit in the compartment, then the data after will processing send to the compartment motor control unit, the compartment motor control unit is by forming with driving chip and voltage modulation circuit, the data that receive are processed, control signal is converted to the pwm signal of control motor, the control motor begins to rotate, realize the motion in compartment, the movable information in compartment all derives from the motion control signal of headstock part in the motion process, guarantee the compartment imitates headstock in the situation of individual drive path of motion, realize the compartment to the tracking of headstock, simultaneously the ultrasonic transduter in the compartment sensor unit, be responsible for the distance between Cai Ji Both joint compartment, and feed back to and control the unit in the compartment, real-time adjustment is made in the motion in compartment, guarantee that the compartment is in stable position in car team.
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| CN105629968A (en) * | 2014-10-31 | 2016-06-01 | 南车株洲电力机车研究所有限公司 | Self-guiding control method for no-rail self-guiding combination vehicle |
| CN109741656A (en) * | 2019-03-14 | 2019-05-10 | 江苏艾什顿科技有限公司 | A kind of Internet of Things comprehensive practical traning outdoor scene sand table system |
| CN110856119A (en) * | 2019-11-08 | 2020-02-28 | 中国测绘科学研究院 | Port vehicle track deviation rectifying method based on geometric vector |
| CN110949505A (en) * | 2019-12-23 | 2020-04-03 | 中车株洲电力机车有限公司 | Multi-axle vehicle and steering system thereof |
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| CN110856119A (en) * | 2019-11-08 | 2020-02-28 | 中国测绘科学研究院 | Port vehicle track deviation rectifying method based on geometric vector |
| CN110949505A (en) * | 2019-12-23 | 2020-04-03 | 中车株洲电力机车有限公司 | Multi-axle vehicle and steering system thereof |
| TWI826148B (en) * | 2022-11-28 | 2023-12-11 | 財團法人金屬工業研究發展中心 | Multihull module |
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