CN105416259A - Driving control system of unmanned electric locomotive based on video recognition - Google Patents
Driving control system of unmanned electric locomotive based on video recognition Download PDFInfo
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- CN105416259A CN105416259A CN201510737526.2A CN201510737526A CN105416259A CN 105416259 A CN105416259 A CN 105416259A CN 201510737526 A CN201510737526 A CN 201510737526A CN 105416259 A CN105416259 A CN 105416259A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T7/00—Brake-action initiating means
- B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
- B60T7/128—Self-acting brakes of different types for railway vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T2210/00—Detection or estimation of road or environment conditions; Detection or estimation of road shapes
- B60T2210/30—Environment conditions or position therewithin
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T2230/00—Monitoring, detecting special vehicle behaviour; Counteracting thereof
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T2250/00—Monitoring, detecting, estimating vehicle conditions
- B60T2250/04—Vehicle reference speed; Vehicle body speed
Abstract
The invention discloses a driving control system of an unmanned electric locomotive based on video recognition. The driving control system comprises a driving controller and external equipment. The driving control system is characterized in that the driving controller is computer equipment used for controlling operation of the locomotive and comprises a traffic analyzer, a vehicle-mounted controller body, vehicle-mounted communication equipment, an input channel and an output channel. The external equipment comprises a variable-frequency control cabinet, a sensor and relative equipment. The sensor transmits information to the driving controller through the input channel. The driving controller transmits control commands to the variable-frequency control cabinet through the output channel and then controls the locomotive and relative equipment. By means of the control system, the locomotive can have access to an underground mobile network dynamically in real time during driving, communicates with a ground locomotive operation server, uploads and stores front video images and locomotive state information, and gives dispatching instructions, and unmanned driving of the underground electric locomotive is achieved. The driving control system has the characteristics of safety and reliability.
Description
Technical field
The present invention relates to a kind of transformation of Underground Locomotive Carrier, especially relate to a kind of based on video identification driverless operation electric locomotive running control system.
Background technology
Driverless operation is that one utilizes onboard sensor to carry out perception vehicle-periphery, and obtains road, vehicle location and obstacle information according to perception, controls turning to and speed of vehicle, thus enables the technology that vehicle safely, reliably travels on road.In shaft production, driverless operation technology is applied on Traditional Transportation electric locomotive, effectively can reduces personnel in the pit's accident and occur, improve mining area work efficiency.
The minority large-scale mine of current European a few countries has adopted driverless operation electric locomotive technology, but is worldwide no more than five, for Asia, does not also have the real place in operation completely of driverless operation electric locomotive.The transportation device used under the most mine of China all needs pilot steering, and service conditions is severe, and safety control and conveying efficiency are all subject to larger restriction.In May, 2011, CHINA ENFI ENGINEERING CORPORATION combines with Tongling Nonferrous Metals metal group Dongguashan Copper Mine, in the driverless operation electric locomotive in-place test success that Dongguashan Copper Mine is carried out.But the driverless operation electric locomotive also Shortcomings that this En Fei company releases, as: because this electric locomotive is after receiving scheduling instruction, automatically run according to the program set, aboveground staff can not see the road conditions looked into when electric locomotive runs in real time, and this electric locomotive can not identify road conditions automatically, so this electric locomotive can not process in time run into the extraordinary circumstances such as obstacle in traveling process.
There is the features such as illumination is low, mine dust large, spraying impact is large, mechanical vibration are large, electromagnetic interference is serious, TCP/IP optical fiber long-distance transmissions, electrical explosion proof, so mining machine vision research should be carried out due to downhole video image monitoring.Namely machine vision replaces human eye and brain to carry out measuring and judging with machine.Along with the application under mine such as the development of machine vision technique, mining high-definition camera and ten thousand mbit ethernets, mining machine vision will become mine informationization and automation research focus.
So, for the already present problem of above driverless operation electric locomotive, vehicle-mounted camera installed by electric locomotive, real-time monitored also gathers road conditions, mining machine vision is used to carry out road condition analyzing, thus ensure that electric locomotive runs into obstacle and can provide response in time advancing in way, and make corresponding process, improve travel safety.
Summary of the invention
The present invention is for avoiding the deficiency existing for above-mentioned prior art, by the transformation to traditional electrical locomotive, there is provided a kind of based on video identification driverless operation electric locomotive running control system, thus design based on video identification driverless operation electric locomotive, this electric locomotive is all applicable for frame electric-type, battery-type two type.What the present invention proposed passes through road condition analyzing device, Vehicle Controller, vehicle mounted communication equipment based on video identification driverless operation electric locomotive running control system, and input channel and delivery channel and external device, not only make electric locomotive can with ground locomotive operation server real-time Communication for Power, receiving scheduling order structure, upload and storage well under video image be convenient to late time data analysis, but also can video identification technology be adopted, automatic analysis is advanced road conditions, cognitive disorders thing, and provide security response in time.
Technical solution problem of the present invention adopts following technical scheme:
Based on video identification driverless operation electric locomotive running control system, comprise thermoacoustic prime engine device and external device, it is characterized in that: described thermoacoustic prime engine device is the computer equipment for controlling locomotive operation, comprising road condition analyzing device, Vehicle Controller, vehicle mounted communication equipment and input channel and delivery channel;
Described road condition analyzing device uses image recognition technology analysis driving video image, judges the equipment of preceding object information;
Described Vehicle Controller is according to locomotive running state information, location information, the result of prestore operational factor and the analysis of described road condition analyzing device, and according to dispatch command, controls the equipment of locomotive operation; Described dispatch command refers to the start and stop instruction of the locomotive autonomous operation that locomotive operation server is sent; Described locomotive operation server refers to the server that locomotive integral runs under control well;
Described vehicle mounted communication equipment realizes the mobile radio network access of mobile unit by trackside AP; Described trackside AP refers to that interval is arranged on the base station of wall;
Described external device comprises frequency-conversion control cabinet, sensor and relevant device, described sensor by input channel to thermoacoustic prime engine device transmission information, described thermoacoustic prime engine device then by delivery channel to frequency-conversion control cabinet transmission control command and then control locomotive and relevant device.
Described external device is as follows:
2.1, vehicle-mounted camera, described vehicle-mounted camera is installed on locomotive top, each two of front and back, is used for harvester front side video image;
2.2, calibrate sensor, described calibration sensor is installed on locomotive top, is used for receiving top, tunnel and is arranged on the infrared encoded signal that the calibration projector in signal lamp sends; Described infrared encoded signal refers to the coordinate information of scaling point in tunnel, is the R point determining locomotive particular location;
2.3, car speed sensor, described car speed sensor is installed on outside locomotive wheel, for acquisition pulse number, design speed and position;
2.4, shock sensor, described shock sensor is arranged on vehicle-mounted camera, for monitoring the vibrational acceleration signal of camera and sending the process of road condition analyzing device to;
2.5, motor, described motor is the phase asynchronous alternating current dynamo that controlling machine garage enters;
2.6, loudspeaker, described loudspeaker are the devices served as warning;
2.7, car light, described car light is used for vehicling lighting, is divided into forward and backward car light; Front and back Vehicle lamp structure is identical, is made up of, direct of travel brilliant white light, reversing sense azarin light, two-way all azarins light during parking ruddiness, white light two groups of LED;
2.8, parking device, described car device is the electric pushrod completing parking locking and release movement with Double-directional rotary, prevents locomotive from slipping car when power-off and moves, and play brake assisting effect when emergency brake;
2.9, parking sensor, whether described parking sensor puts in place for detecting the action of electric parking push rod;
2.10, frequency-conversion control cabinet: described frequency-conversion control cabinet is arranged on locomotive driving indoor, on the one hand by the communication of Modbus communication module colleague vehicle controller, uploads locomotive state information, issues locomotive control instruction; On the other hand the locomotive control instruction transformation received is become the operation of various drive singal drive motor, loudspeaker, car light and parking device.
The working process of described road condition analyzing device is as follows:
3.1, described road condition analyzing device receives the front Road quality simulation vision signal that vehicle-mounted camera gathers;
3.2, described road condition analyzing device receives the camera vibration signal that shock sensor gathers, and carries out software for jitters elimination to video image, improves image acquisition quality;
3.3, the analog video signal obtained in 3.1 is used machine vision technique analyzing and processing, draw the traffic information on front track road surface;
3.4, the traffic information will obtained in 3.3, timed sending is to Vehicle Controller.
The working process of described Vehicle Controller is as follows:
4.1, described Vehicle Controller obtains scaling point information from calibration sensor;
4.2, described Vehicle Controller obtains pulse count from car speed sensor, design speed and position; Described position refers to the distance of locomotive from scaling point;
4.3, described Vehicle Controller obtains locomotive running state information from frequency-conversion control cabinet; Described running state information is the state comprising traction electric machine, loudspeaker, car light, parking device;
4.4, described Vehicle Controller is by the instruction of described vehicle mounted communication equipment receiving scheduling; Described dispatch command refers to the start and stop instruction of the locomotive autonomous operation that locomotive operation server is sent;
4.5, traffic information is obtained by road condition analyzing device;
4.6, the information obtained according to 4.1,4.2,4.3,4.4, then combine the operational factor that prestores and comprehensively analyze, judge, generate locomotive control command; The vehicle parameter that the described operational factor that prestores pre-sets when referring to locomotive autonomous operation;
4.7, the locomotive control instruction of 4.6 is sent to frequency-conversion control cabinet by delivery channel, control the operation of locomotive;
4.8, locomotive operation situation is reported locomotive operation server by network.
Compared with the prior art, beneficial effect of the present invention is embodied in:
Traditional electrical locomotive is transformed by the present invention, control system based on video identification driverless operation electric locomotive thermoacoustic prime engine device and associated external equipment is housed, make locomotive can dynamic access underground moving network in real time in traveling process, upload with ground locomotive operation server communication and store front video image and locomotive state information, issue dispatch command; Simultaneously according to the analog video image in front of advancing, adopt Machine Vision Recognition Technology, automatic analysis front road conditions, and provide security response in time, and then achieve the driverless operation of Underground Locomotive Carrier.Electric locomotive in the present invention is with large-capacity battery pack or stringing powered by direct current, automatically raw coal, mineral aggregate transportation burden can be born, move in circles the track large lane environment run between loading area and unload zone, runs into obstacle meeting self-actuating brake and blow a whistle in operational process.This invention improves safety, the reliability of underground transportation while reducing underground work personnel amount, and conveying efficiency.
Accompanying drawing explanation
Fig. 1 is involved in the present invention based on video identification driverless operation electric locomotive thermoacoustic prime engine device structural representation;
Fig. 2 is involved in the present invention based on video identification driverless operation electric locomotive structural representation;
Fig. 3 is involved in the present invention based on video identification driverless operation electric locomotive thermoacoustic prime engine device workflow diagram.
Detailed description of the invention
Below by way of detailed description of the invention, and the invention will be further described by reference to the accompanying drawings:
As depicted in figs. 1 and 2, based on video identification driverless operation electric locomotive running control system, comprise thermoacoustic prime engine device and external device, it is characterized in that: described thermoacoustic prime engine device is the computer equipment for controlling locomotive operation, comprising road condition analyzing device, Vehicle Controller, vehicle mounted communication equipment and input channel and delivery channel;
Described road condition analyzing device uses image recognition technology analysis driving video image, judges the equipment of preceding object information;
Described Vehicle Controller is according to locomotive running state information, location information, the result of prestore operational factor and the analysis of described road condition analyzing device, and according to dispatch command, controls the equipment of locomotive operation; Described dispatch command refers to the start and stop instruction of the locomotive autonomous operation that locomotive operation server is sent; Described locomotive operation server refers to the server that locomotive integral runs under control well;
Described vehicle mounted communication equipment realizes the mobile radio network access of mobile unit by trackside AP; Described trackside AP refers to that interval is arranged on the base station of wall;
Described external device comprises frequency-conversion control cabinet, sensor and relevant device, described relevant device by input channel to thermoacoustic prime engine device transmission information, described thermoacoustic prime engine device then by delivery channel to frequency-conversion control cabinet transmission control command and then control locomotive and relevant device.
Described external device is as follows:
2.1, vehicle-mounted camera, described vehicle-mounted camera is installed on locomotive top, each two of front and back, is used for harvester front side video image;
2.2, calibrate sensor, described calibration sensor is installed on locomotive top, is used for receiving top, tunnel and is arranged on the infrared encoded signal that the calibration projector in signal lamp sends; Described infrared encoded signal refers to the coordinate information of scaling point in tunnel, is the R point determining locomotive particular location;
2.3, car speed sensor, described car speed sensor is installed on outside locomotive wheel, for acquisition pulse number, design speed and position;
2.4, shock sensor, described shock sensor is arranged on vehicle-mounted camera, for monitoring the vibrational acceleration signal of camera and sending the process of road condition analyzing device to;
2.5, motor, described motor is the phase asynchronous alternating current dynamo that controlling machine garage enters;
2.6, loudspeaker, described loudspeaker are the devices served as warning;
2.7, car light, described car light is used for vehicling lighting, is divided into forward and backward car light; Front and back Vehicle lamp structure is identical, is made up of, direct of travel brilliant white light, reversing sense azarin light, two-way all azarins light during parking ruddiness, white light two groups of LED;
2.8, parking device, described car device is the electric pushrod completing parking locking and release movement with Double-directional rotary, prevents locomotive from slipping car when power-off and moves, and play brake assisting effect when emergency brake;
2.9, parking sensor, whether described parking sensor puts in place for detecting the action of electric parking push rod;
2.10, frequency-conversion control cabinet: described frequency-conversion control cabinet is arranged on locomotive driving indoor, on the one hand by the communication of Modbus communication module colleague vehicle controller, uploads locomotive state information, issues locomotive control instruction; On the other hand the locomotive control instruction transformation received is become the operation of various drive singal drive motor, loudspeaker, car light and parking device.
The working process of described road condition analyzing device is as follows:
3.1, described road condition analyzing device receives the front Road quality simulation vision signal that vehicle-mounted camera gathers;
3.2, described road condition analyzing device receives the camera vibration signal that shock sensor gathers, and carries out software for jitters elimination to video image, improves image acquisition quality;
3.3, the analog video signal obtained in 3.1 is used machine vision technique analyzing and processing, draw the traffic information on front track road surface;
3.4, the traffic information will obtained in 3.3, timed sending is to Vehicle Controller.
The working process of described Vehicle Controller is as follows:
4.1, described Vehicle Controller obtains scaling point information from calibration sensor;
4.2, described Vehicle Controller obtains pulse count from car speed sensor, design speed and position; Described position refers to the distance of locomotive from scaling point;
4.3, described Vehicle Controller obtains locomotive running state information from frequency-conversion control cabinet; Described running state information is the state comprising traction electric machine, loudspeaker, car light, parking device;
4.4, described Vehicle Controller is by the instruction of described vehicle mounted communication equipment receiving scheduling; Described dispatch command refers to the start and stop instruction of the locomotive autonomous operation that locomotive operation server is sent;
4.5, traffic information is obtained by road condition analyzing device;
4.6, the information obtained according to 4.1,4.2,4.3,4.4, then combine the operational factor that prestores and comprehensively analyze, judge, generate locomotive control command; The vehicle parameter that the described operational factor that prestores pre-sets when referring to locomotive autonomous operation;
4.7, the locomotive control instruction of 4.6 is sent to frequency-conversion control cabinet by delivery channel, control the operation of locomotive;
4.8, locomotive operation situation is reported locomotive operation server by network.
The workflow of this control system is as shown in Figure 3:
A, only need be equipped with dispatcher in terrain transportation control center, assign dispatch command by dispatching system.
B, locomotive, after entrucking district is by mineral aggregate entrucking, enter autonomous driving pattern.
C, under normal circumstances, locomotive travels according to the parameter that prestores, and obtains locomotive location information, at some section acceleration or deceleration according to registration device.
D, locomotive, in traveling process, by video image identification, constantly detect front traffic information, once obstacle be detected, start braking process, until trouble shooting then travels according to the parameter that prestores again.
Claims (4)
1. based on video identification driverless operation electric locomotive running control system, comprise thermoacoustic prime engine device and external device, it is characterized in that: described thermoacoustic prime engine device is the computer equipment for controlling locomotive operation, comprising road condition analyzing device, Vehicle Controller, vehicle mounted communication equipment and input channel and delivery channel;
Described road condition analyzing device uses image recognition technology analysis driving video image, judges the equipment of preceding object information;
Described Vehicle Controller is according to locomotive running state information, location information, the result of prestore operational factor and the analysis of described road condition analyzing device, and according to dispatch command, controls the equipment of locomotive operation; Described dispatch command refers to the start and stop instruction of the locomotive autonomous operation that locomotive operation server is sent; Described locomotive operation server refers to the server that locomotive integral runs under control well;
Described vehicle mounted communication equipment realizes the mobile radio network access of mobile unit by trackside AP; Described trackside AP refers to that interval is arranged on the base station of wall;
Described external device comprises frequency-conversion control cabinet, sensor and relevant device, described sensor by input channel to thermoacoustic prime engine device transmission information, described thermoacoustic prime engine device then by delivery channel to frequency-conversion control cabinet transmission control command and then control locomotive and relevant device.
2. according to claim 1 based on video identification driverless operation electric locomotive thermoacoustic prime engine device, it is characterized in that: described external device is as follows:
2.1, vehicle-mounted camera, described vehicle-mounted camera is installed on locomotive top, each two of front and back, is used for harvester front side video image;
2.2, calibrate sensor, described calibration sensor is installed on locomotive top, is used for receiving top, tunnel and is arranged on the infrared encoded signal that the calibration projector in signal lamp sends; Described infrared encoded signal refers to the coordinate information of scaling point in tunnel, is the R point determining locomotive particular location;
2.3, car speed sensor, described car speed sensor is installed on outside locomotive wheel, for acquisition pulse number, design speed and position;
2.4, shock sensor, described shock sensor is arranged on vehicle-mounted camera, for monitoring the vibrational acceleration signal of camera and sending the process of road condition analyzing device to;
2.5, motor, described motor is the phase asynchronous alternating current dynamo that controlling machine garage enters;
2.6, loudspeaker, described loudspeaker are the devices served as warning;
2.7, car light, described car light is used for vehicling lighting, is divided into forward and backward car light; Front and back Vehicle lamp structure is identical, is made up of, direct of travel brilliant white light, reversing sense azarin light, two-way all azarins light during parking ruddiness, white light two groups of LED;
2.8, parking device, described car device is the electric pushrod completing parking locking and release movement with Double-directional rotary, prevents locomotive from slipping car when power-off and moves, and play brake assisting effect when emergency brake;
2.9, parking sensor, whether described parking sensor puts in place for detecting the action of electric parking push rod;
2.10, frequency-conversion control cabinet: described frequency-conversion control cabinet is arranged on locomotive driving indoor, on the one hand by the communication of Modbus communication module colleague vehicle controller, uploads locomotive state information, issues locomotive control instruction; On the other hand the locomotive control instruction transformation received is become the operation of various drive singal drive motor, loudspeaker, car light and parking device.
3. according to claim 2 based on video identification driverless operation electric locomotive running control system, it is characterized in that: the working process of described road condition analyzing device is as follows:
3.1, described road condition analyzing device receives the front Road quality simulation vision signal that vehicle-mounted camera gathers;
3.2, described road condition analyzing device receives the camera vibration signal that shock sensor gathers, and carries out software for jitters elimination to video image, improves image acquisition quality;
3.3, the analog video signal obtained in 3.1 is used machine vision technique analyzing and processing, draw the traffic information on front track road surface;
3.4, the traffic information will obtained in 3.3, timed sending is to Vehicle Controller.
4. according to claim 2 based on video identification driverless operation electric locomotive running control system, it is characterized in that: the working process of described Vehicle Controller is as follows:
4.1, described Vehicle Controller obtains scaling point information from calibration sensor;
4.2, described Vehicle Controller obtains pulse count from car speed sensor, design speed and position; Described position refers to the distance of locomotive from scaling point;
4.3, described Vehicle Controller obtains locomotive running state information from frequency-conversion control cabinet; Described running state information is the state comprising traction electric machine, loudspeaker, car light, parking device;
4.4, described Vehicle Controller is by the instruction of described vehicle mounted communication equipment receiving scheduling; Described dispatch command refers to the start and stop instruction of the locomotive autonomous operation that locomotive operation server is sent;
4.5, traffic information is obtained by road condition analyzing device;
4.6, the information obtained according to 4.1,4.2,4.3,4.4, then combine the operational factor that prestores and comprehensively analyze, judge, generate locomotive control command; The vehicle parameter that the described operational factor that prestores pre-sets when referring to locomotive autonomous operation;
4.7, the locomotive control instruction of 4.6 is sent to frequency-conversion control cabinet by delivery channel, control the operation of locomotive;
4.8, locomotive operation situation is reported locomotive operation server by network.
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| CN105450990A (en) * | 2015-11-16 | 2016-03-30 | 合肥工业大学 | Down-hole mobile broadband streaming media network facing unmanned locomotive |
| CN105892397A (en) * | 2016-06-12 | 2016-08-24 | 河北钢铁集团矿业有限公司 | Unmanned transportation system of underground electric locomotive |
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