CN102923135B - 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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- CN102923135B CN102923135B CN201210452147.5A CN201210452147A CN102923135B CN 102923135 B CN102923135 B CN 102923135B CN 201210452147 A CN201210452147 A CN 201210452147A CN 102923135 B CN102923135 B CN 102923135B
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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 based on wireless sensor network controls to be a kind of new vehicle motion control theory possessing 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 application and automation field.
Background technology
This intelligent control method is for the car team transport field for large Material Transportation with headstock and more piece compartment composition.Its technology be applied to comprises: wireless sensor network technology, zigbee are wireless automatic network-building technology and sensor technology.
Wireless sensor network (WSN, Wireless Sensor Networks) wireless self-organization network that is made up of the sensor of one group of dense layout, random spreading, the information of perceptive object in the geographic area that its objective is perception collaboratively, the acquisition and processing network coverage, and be distributed to gateway.
Zigbee automatic network-building technology is the basis of the communication based on IEEE 802.15.4 agreement.The technology specified according to this agreement is the wireless communication technology of a kind of short range, low-power consumption.Both can realize the MANET radio communication of data, distribution multiple nodes in the environment also can be utilized to realize accurate positioning function.Based in the car team sport intellect control method of wireless sensor network, be fully applied to the technical advantage of zigbee in sensor network:
Automatic network-building: it is automatic network-building that all modules power on, Coordinator gives all peer distribution addresses automatically, do not need user's manual allocation address, the professional ZigBee networking flow processs such as network adds, response, be beneficial to freely controlling of compartment in car team, add at any time or a certain joint compartment deleted in car team and the motion of whole vehicle body is not had any impact;
Each node (Coordinator in network, Router) all there is discovering network topology function, as long as there is a node to be normal work, then new node adds network by this node, thus ensure that the reliability that car team communicates, any one saves adding or exiting the communication that can not have influence on whole car team of compartment.
Be simple and easy to use: what user can be completely autonomous writes corresponding communication protocol, ensure that the maximization of resource in data transfer procedure uses, do not waste transfer resource as far as possible.
The rectification regulation technology of sensor ensures that car parts can be stable, the important leverage operated in car team coordinated, this regulative mode is based on some sensors each and every one being positioned at front end, compartment, by the detection to compartment spacing, in the motion process in compartment, fine speed adjustment is carried out to it, thus realize the cooperation control of whole vehicle body.
Along with the fast development of China's economic, logistic industry, the mass transit of goods and materials has become a bottleneck of puzzlement development of logistics line.Traditional transportation means is as pony truck and trailer or be exactly that too little, transport capacity is large not, otherwise be exactly too heavy, use safe not, alerting ability is poor too.Based on this present situation, whole transport car team can be carried out automatic flexible networking at this novel car team sport intellect control method based on wireless sensor network of design by us, when needing, compartment can add car team at any time, freely can leave network after task completes.Controlled in wireless can be carried out by wireless technology, location technology to fleet simultaneously, allow fleet realize automatic Pilot, to advance.The effect use technique to obtain and control traffic cost, expanding transport capacity.
Therefore, our car team sport intellect control method is with a kind of application of technology of Internet of things, control the cooperation control of a car team be made up of the compartment of headstock and more piece individual drive in fortune merits and demerits journey with the form of wireless sensor network, ensure the safety that its car team moves and alerting ability.We at guarantee car team fluent motion, can realize headstock carry 5-10 and save compartment under the prerequisite of safety at present.
Summary of the invention
Car team sport intellect control method based on wireless sensor network is a kind of control method be directed under large goods and materials, overlength vehicle body types of transportation, and it well solves, and conventional trailer on the go is not easy to operate, the problem of poor stability.Under present control mode, headstock adopts independent power with compartment, is physically separated completely, and intelligent control system is distributed on headstock and some compartments, forms a Controling network, controls the operation in headstock and all compartments.
The present invention adopts the ARM chip of main flow, fpga chip and digital signal processor (DSP) to be control device, the application of combined with radio communication technology and sensor technology, realizes the Intellisense of train to environment, to the automatic adaptation of road conditions, and store current driving path, optimize movement line.
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 headstock and two, compartment part whole car team:
Vehicle head part comprises Central Processing Unit (CPU), radio communication unit, sensor unit, sensor unit realizes the collection to road condition data, comprise speed sensor, infrared pickoff, ultrasonic transduter, be responsible for the rotating speed of collection wheel respectively and calculate steering angle, preceding object object location, obstacle distance; Central Processing Unit (CPU) realizes calculating the process of image data, can adopt conventional ARM, FPGA process chip; Radio communication unit is then responsible for the data after by process and is transmitted, and radio communication unit adopts Zigbee-technology, and whole car team can be formed a small-sized control area net（CAN）, be one of characteristic of this car team intelligent control method.
Car parts comprises in compartment controls unit, compartment radio communication unit, compartment motor control unit, compartment sensor unit.Compartment wireless communication unit adopts Zigbee-technology, be responsible for the data receiving headstock transmission, and send in compartment and control unit, control unit in compartment can adopt, simple 51 chips specifically can be adopted can to meet process to data, then the data after process are sent to compartment motor control unit, compartment motor control unit forms by with driving chip and voltage modulation circuit, the data received are processed, control signal is converted to the pwm signal that directly can control motor, control motor to start to rotate, realize the motion in compartment, in motion process, the movable information in compartment all derives from the motion control signal of vehicle head part, can ensure that compartment imitates the path of motion of headstock when individual drive like this, realize the tracking of compartment to headstock, ultrasonic transduter simultaneously in compartment sensor unit, be responsible for the distance between Cai Ji Both joint compartment, and feed back in compartment and control unit, real-time adjustment is made to the motion in compartment, ensure that compartment is in stable position in car team.
This kind of car team control method can realize the intellectuality of car team, and function comprises:
The intelligent hedging of car team, when complicated dangerous road conditions, whether car team automatic decision front exists obstacle, and the corresponding processing mode taking to dodge, suddenly stop;
The Long-distance Control of car team, operating personal can carry out controlled in wireless by radio communication to headstock, allows car team realize driverless operation;
The automatic acquisition in car team path, at the first train by after specified path, obtain the vehicle wheel rotational speed in current driving process, steering angle, by calculating, drawing the driving path of car team, passing through communication, path fed back and stores, can be used as the reference of the traveling in the situation such as dense fog, road environment sudden change;
The traveling of flexible car team, in railless situation, this control method can realize the feature of similar track car team transport, reduces the cost of transport, more improves the alerting ability of transportation environment.
This kind of intelligent control method, not only increases car team transport capacity, more utilizes its individual drive, and physical separation characteristic, reduces traffic cost, improves the alerting ability of transportation environment, safety.
Accompanying drawing explanation
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 schematic diagram of zigbee;
Fig. 3: sensor-based compartment control and regulation schematic diagram;
Fig. 4: headstock routing information memory schematic diagram.
Detailed description of the invention
Below in conjunction with drawings and Examples, the present invention is described further.
As shown in Figure 1, this based under the car team sport intellect control method of wireless sensor network, we take the individual drive of body portion, whole trailer is formed a small-sized local area network by the wireless sensor network relying on wireless communication unit to form, the cooperation control to vehicle body is realized by information communication, gather car compartment spacing by compartment sensor unit simultaneously, real-time monitoring, pass through data analysis, status of action is adjusted in real time, thus it is freely uncontrollable well to avoid traditional pulling mode under body, the unsafe condition of the long appearance of vehicle body.
The wireless senser based on zigbee be applied in wireless communication unit saves on compartment and headstock by the zigbee Module-embedding in wireless sensor network to needing each control in car team, whole car team is formed a small-sized local area network (as Fig. 2), often joint compartment is considered as a node in network, headstock is set to coordinator node, compartment is each node in network, when needs increase or delete a compartment be, coordinator node in local area network will find variation automatically, and to the node that the peer distribution address newly added or deletion will be left.In the process of vehicle conduct, the vehicle wheel rotational speed, the steering angle that send current headstock to compartment that headstock is real-time, make compartment can make correct traveling action, headstock is as the combinator of whole network simultaneously, can the path passed through of Real-time Feedback car team, and draw out the track that vehicle travels at present.
In vehicle operating, vehicle head part is responsible for selecting concrete control method, comprises wireless control mode, driving model.After vehicle is by concrete path, by being embedded in the vehicle wheel rotational speed of vehicle head part sensor Real-time Collection headstock, steering angle, these data are kept in a queue (as Fig. 3), the strategy of the first in first out that queue adopts ensure that the succession of data acquisition and transmission, and each data segment includes vehicle wheel rotational speed and the steering angle of destination address and the current headstock accepting data.
We are by these data separate wireless network transmissions in compartment subsequently, and compartment is by the analysis to data, and calculate effective execution moment of information, preliminary has imitated the operational process of headstock.Meanwhile, the compartment sensor unit (Fig. 4) be embedded in compartment will carry out motion fine setting to compartment, and they are by the distance X between Real-time Collection and front truck, are realized the quantification of signal by A/D conversion.Construct the piecewise function of a velocity and distance simultaneously, having in the active distance between compartment, be divided into acceleration, constant speed, slow down three speed class, when compartment hypertelorism, rear car is accelerated to catch up with front truck, reach most suitable distance, this ensures that there its harmony in car team, thus achieve the path trace for headstock.
The workflow of this kind of intelligent control method is as follows:
1., by neat the parking as straight line of headstock and each independent compartment, there is controllers to select the master mode of headstock, comprise Wireless remote control, automatic danger-avoiding, named place of destination automatic navigation;
2. open the compartment wireless communication unit in each compartment, compartment sensor unit, then headstock is started, realize the traveling of car team, in motion process, headstock ceaselessly gathers self vehicle wheel rotational speed, steering angle data, be positioned at the vehicle wheel rotational speed of the sensor unit Real-time Collection headstock of headstock simultaneously, steering angle, these data centralizations calculate by the Central Processing Unit (CPU) being positioned at headstock, draw the motion control data (vehicle wheel rotational speed in compartment, steering angle), and respectively these two kinds of data are sent compartment by zigbee module, store simultaneously, as the important parameter of drawing path,
3. after compartment receives the motion control data of headstock, directly by controlling unit in compartment, converting control data to motor control signal, sending to compartment motor control unit, realize the preliminary tracking in compartment;
4. be positioned at the compartment sensor unit on compartment, when compartment preliminary motion, gather compartment and headstock, distance between compartment, and calculate this and adopt out one in acceleration within the scope of compartment active distance, constant speed, deceleration Three models, the real-time motion to car team adjusts, and ensures that car team ensures the level and smooth of entirety in can moving again;
5. final, all data will feed back, receiving the vehicle wheel rotational speed of headstock transmission, after steering angle, computer is utilized to draw out the Ferry Status of car team, realize car team to monitor in real time, these data will be saved in assigned data storehouse, as the reference of the traveling of this road in the situations such as dense fog, road environment sudden change simultaneously.
In sum, be a kind of novel intelligent transportation mode carrying out car team transport at large goods and materials, zone of ignorance based on the car team sport intellect control method of wireless sensor network.Namely it avoid due to the potential safety hazard that long vehicle body causes in car team transportation, and achieve compartment individual drive simultaneously and control, intelligent path is followed, and driving path feeds back multiple utility function.In addition, utilize this kind of technology, we can expand multiple application simultaneously, such as utilize path trace, realize seeking goods at the automated intelligent of bulk storage plant, dock container, the automobile navigation of specified path, a large amount of relief goods of zone of ignorance, war material transport etc.Therefore, the car team sport intellect control method based on wireless sensor network is a kind of typical Internet of Things application, will significantly improve car team transport capacity, and ensure that its safety of transporting and alerting ability.
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:
Vehicle head part comprises Central Processing Unit (CPU), radio communication unit, sensor unit, sensor unit realizes the collection to road condition data, comprise speed sensor, infrared pickoff and ultrasonic transduter, be responsible for the rotating speed of collection wheel respectively and calculate steering angle, preceding object object location, obstacle distance; Central Processing Unit (CPU) realizes calculating the process of image data, and Central Processing Unit (CPU) adopts ARM or FPGA process chip; Radio communication unit is then responsible for the data after by process and is transmitted, and radio communication unit adopts zigbee network;
Car parts comprises in compartment controls unit, compartment radio communication unit, compartment motor control unit, compartment sensor unit, compartment wireless communication unit adopts zigbee network, be responsible for the data receiving headstock transmission, and send in compartment and control unit, unit is controlled in compartment, then the data after process are sent to compartment motor control unit, compartment motor control unit is made up of driving chip and voltage modulation circuit, the data received are processed, control signal is converted to the pwm signal controlling motor, control motor to start to rotate, realize the motion in compartment, in motion process, the movable information in compartment all derives from the motion control signal of vehicle head part, ensure that compartment imitates the path of motion of headstock when individual drive, realize the tracking of compartment to headstock, ultrasonic transduter simultaneously in compartment sensor unit, be responsible for gathering the distance between headstock and compartment, distance between two joint compartments, and feed back in compartment and control unit, real-time adjustment is made to the motion in compartment, ensure that compartment is in stable position in car team.
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| CN103796274B (en) * | 2014-02-19 | 2018-02-09 | 河南智慧水务股份有限公司 | Rapid freight transportation intelligent monitor system and method |
| CN105629968B (en) * | 2014-10-31 | 2019-02-15 | 南车株洲电力机车研究所有限公司 | A kind of self- steering control method of trackless self- steering truck combination |
| 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 |
| CN110856119B (en) * | 2019-11-08 | 2021-07-13 | 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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