CN105788320B - Highway lorry monitoring system and method based on contact net electric propulsion technology - Google Patents

Abstract

The invention discloses a highway truck monitoring system based on catenary electric propulsion technology. , battery state monitoring module, battery charging and discharging speed control module, overtaking and lane changing prompt module, truck driving speed control module, collector pole height and angle control module are connected. The invention also provides a highway truck monitoring method based on catenary electric propulsion technology. The invention applies the catenary electric propulsion technology to the trucks driving on the highway, so that the trucks can run on the highway through the electric energy provided by the catenary, avoiding the use of diesel to drive on the highway, and reducing carbon dioxide and other harmful gases emissions, reducing environmental pollution and saving energy.

Description

Expressway truck monitoring system and method based on catenary electric propulsion technology

technical field

The invention relates to the monitoring field, in particular to a monitoring system and method for expressway trucks based on catenary electric propulsion technology.

Background technique

According to relevant reports, by the end of 2015, the total mileage of expressways in my country will reach more than 120,000 kilometers, ranking first in the world. At present, almost all large trucks are powered by diesel engines, so large trucks emit a large amount of sulfur dioxide, nitrogen oxides and other harmful substances every year, causing serious air pollution. The increase of large trucks makes the consumption of diesel oil increase year by year, thus making the supply of energy more and more tense. Taking the Beijing-Shanghai Expressway as an example, large trucks consume a total of 1.5 million tons of diesel fuel on the Beijing-Shanghai Expressway each year, which will produce about 4.7 million tons of carbon dioxide and 150,000 tons of nitrogen oxides and other harmful gases.

The catenary is usually used in electrified railways, and is erected in a "zigzag" shape along the rails, and is a high-voltage transmission line for the pantograph to take current. It is the main frame of the railway electrification project, and it is a special form of transmission line erected along the railway line to supply power to electric locomotives. The collector pole is installed on the bracket on the roof of the tram, and its end is called a "boot", which looks like an upside-down boot. The bottom of the "boot" is a U-shaped groove, and graphite sliders are installed inside. The overhead line directly rubs against the graphite slider in the U-shaped groove to obtain power, which is introduced into the control system in the car through the conductive wire in the collector rod. Catenary is used on railways, city trams and trolleybuses because it is non-polluting. If catenary power can be used as the main power of large trucks, the emission of carbon dioxide and polluting gases will be zero, and the emission reduction effect is equivalent to the annual emission of 2.7 million cars. It takes investment to control such a large emission About 72 billion yuan. Therefore, we are eager to apply catenary electric propulsion technology to large trucks.

Contents of the invention

The object of the present invention is to provide a highway truck monitoring system and method based on catenary electric propulsion technology. The system and method apply catenary to large trucks to reduce harmful gas and carbon dioxide emissions and protect the environment.

The technical scheme adopted in the present invention is:

A highway freight vehicle monitoring system based on catenary electric propulsion technology, including a monitoring center, which is connected with a GPS satellite map data receiving module, a collector pole force detection module, a collector pole camera monitoring module, and a battery state monitoring module respectively. module, battery charge and discharge speed control module, overtaking and lane changing prompt module, truck speed control module, collector pole height and angle control module are connected.

A further solution is that the monitoring center is connected to the server of the expressway transportation department.

The GPS satellite map data receiving module is used to collect the catenary position, the real-time position of the truck, and transmits the above data to the monitoring center; the force detection module of the collector pole is used to collect the force data of the collector pole, and The above data is transmitted to the monitoring center; the monitoring module of the collecting pole camera is used to collect the video information taken by the collecting pole camera, and the above data is transmitted to the monitoring center; the battery state monitoring module is used to collect the voltage of the storage battery, current, and calculate the state of charge of the battery, and transmit the above data to the monitoring center; the server of the expressway transportation department is used to send the catenary status of the expressway section ahead and the real-time road conditions of the expressway to the monitoring center; the monitoring center uses It is used to receive the data from the GPS satellite map data receiving module, the force detection module of the collector pole, the camera monitoring module of the collector pole, and the battery status monitoring module, and analyze the obtained signals, and control the charging and discharging speed of the battery according to the analysis results. Module, overtaking and lane changing prompt module, truck speed control module, collector pole height and angle control module respectively control the charging and discharging speed of the battery, truck driving speed and adjust the height and angle of collector poles, and determine the safe area for overtaking and lane changing. Prompt the overtaking and lane changing prompt module to prompt overtaking and lane changing safety areas; the battery charge and discharge speed control module is used to control the charging speed of the battery; the overtaking lane change prompt module is used to receive the overtaking signal sent by the monitoring center for the driver's reference The truck speed control module is used to control the speed of the truck; the height and angle control module of the collector pole is used to keep the pressure between the pantograph of the collector pole and the catenary within a specified range.

A further solution is that the height and angle control module of the collector pole includes a rotating platform connected to the collector pole, the rotating platform is connected with the bull gear, the bull gear meshes with the pinion gear, and the pinion gear is connected with the stepping motor. The stepper motor is placed on the upper base, and the upper base is provided with a lifting support device and a hydraulic cylinder in turn. The piston rod of the hydraulic cylinder passes through the center of the lower base to connect with the upper base; the rod cavity of the hydraulic cylinder is connected to the lower hydraulic oil pipe, and the hydraulic pressure The rodless cavity of the cylinder is connected with the upper hydraulic oil pipe.

The present invention also provides a monitoring method using the above-mentioned highway truck monitoring system based on catenary electric propulsion technology:

Collect the catenary position, the state of the catenary on the highway section ahead, and the real-time position of the truck; collect the force data of the collecting pole; collect the video information captured by the camera of the collecting pole; collect the voltage and current of the battery, and calculate the charge of the battery Status; collect real-time traffic conditions of the expressway;

According to the real-time road condition information of the expressway and the catenary status of the expressway section in front, adjust the driving speed of the truck, and control the truck to reduce the speed when the traffic flow of the expressway section in front is greater than a certain threshold or the catenary in front fails;

Determine the height difference and angle difference between the collector pole and the catenary according to the video information captured by the collector pole camera, and then fine-tune the height and angle of the collector pole according to the force data of the collector pole, so that the power receiving pole The pressure between the bow and the catenary is maintained within the specified range;

According to the battery voltage, current, state of charge of the battery, and the state of the catenary of the highway section ahead, determine the charging and discharging speed of the battery. If the catenary of the highway section ahead is faulty, the battery will be charged quickly; if the catenary of the highway section ahead is normal , the battery will be charged at the preset charging speed;

Determine the position of the truck on the expressway and the position of the transmission line of the catenary on the expressway according to the position of the catenary and the real-time position of the truck. When the distance of the truck from the catenary is greater than the set threshold, the monitoring center will send out an alarm to remind the driver Adjust the driving direction of the truck to keep the distance between the truck and the catenary within the set threshold; set the safe area for the truck to overtake and change lanes according to the real-time position of the truck, the real-time road conditions of the expressway, and the status of the catenary on the highway section ahead. When arriving at this safety zone, the monitoring center sends out an overtaking signal, and the driver overtakes according to the overtaking signal.

The beneficial effects of the present invention are:

Apply the catenary electric propulsion technology to the trucks driving on the highway, so that the trucks can run on the highway through the electric energy provided by the catenary, avoiding the use of diesel to drive on the highway, and reducing the emission of carbon dioxide and other harmful gases , reducing environmental pollution and saving energy;

By collecting the position of the catenary, the state of the catenary on the highway section ahead, the real-time position of the truck, the real-time road conditions of the highway, the force data of the collector pole, the video information captured by the camera of the collector pole, the voltage and current of the battery, to accurately control The speed of the truck and the charge and discharge of the battery ensure that the collector rod on the truck is in close contact with the catenary to prevent the occurrence of rod detachment accidents;

According to the height difference and angle difference between the collector pole and the catenary, that is, the deviation of the truck relative to the catenary, the height and angle of the collector pole are controlled to solve the problem of the deviation of the truck relative to the catenary and prevent the occurrence of pole-off accidents , to ensure safety;

It can control the charging and discharging speed of the battery and improve the working life of the battery;

The invention can make the truck run more safely and efficiently on the expressway.

Description of drawings

The present invention will be further described below in conjunction with accompanying drawing and embodiment, in the accompanying drawing:

Fig. 1 is the structural block diagram of the expressway truck monitoring system based on catenary electric propulsion technology of the present invention;

Fig. 2 is a structural schematic diagram of the collector pole height and angle control module;

Fig. 3 is the monitoring screen of the satellites received by the GPS satellite map data receiving module.

Among them: 10-monitoring center; 1-battery status monitoring module; 2-collector pole camera monitoring module; 3-collector pole force detection module; 4-GPS satellite map data receiving module; 5-expressway transportation department Server; 6-battery charge and discharge speed control module; 7-overtaking lane change prompt module; 8-truck speed control module; 9-collector pole height and angle control module; 11-collector pole; 12-big gear; 13 - Upper base plate; 14- Lower base plate; 15- Lower hydraulic oil pipe; 16- Upper hydraulic oil pipe; 17- Hydraulic cylinder; 18- Lifting support device; 19- Stepper motor; 20- Pinion gear; 21- Rotary platform; Trucks; 23-safety area for trucks to overtake and change lanes; 24-catenary.

Detailed ways

In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.

A catenary 24 is erected above the expressway, a monitoring center is installed in front of the driver's seat of the truck 22, and the truck 22 is connected with the catenary 24 through the collector pole 11.

1-3, a highway truck monitoring system based on catenary electric propulsion technology, including a monitoring center 10, the monitoring center 10 is connected with the GPS satellite map data receiving module 4, the force detection module 3 of the collector pole, and the monitoring center 10 respectively. Pole camera monitoring module 2, battery status monitoring module 1, battery charge and discharge speed control module 6, overtaking and lane change prompt module 7, truck speed control module 8, collector pole height and angle control module 9, highway transportation department The server 5 is connected. The camera monitoring module 2 of the collector pole transmits the video information taken to the monitoring center 10, determines the height difference and the angle difference between the collector pole 11 and the catenary 24 through the video information, and realizes the collection by adjusting the height and angle control module 9 of the collector pole. The pole 11 is in contact with the catenary 24, and the height and angle of the pole are fine-tuned by analyzing the force signal of the spring force of the pole 11 sent by the force detection module 3 of the pole, so that the power receiving pole 11 Bow and catenary 24 pressures are within a certain range. When the distance X of the truck 22 from the catenary 24 is greater than the set threshold, the monitoring center 10 will send an alarm to remind the driver to adjust the driving direction of the truck 22 so that the distance between the truck 22 and the catenary 24 remains within the threshold, thereby ensuring the collector pole 11 with the stable contact of catenary, meanwhile, on the GPS satellite map, designated area is set the safety area 23 of truck overtaking and changing lanes, when truck 22 arrives this safe area, monitoring center 10 sends signal to overtaking and changing lane prompting module 7, Then the driver can choose whether to overtake and change lanes.

The GPS satellite map data receiving module 4 is used to collect the real-time position of catenary 24 position, truck 22, and above-mentioned data is transmitted to monitoring center 10; , and transmit the above data to the monitoring center 10; the collecting pole camera monitoring module 2 is used to collect the video information taken by the collecting pole camera, and transmits the above data to the monitoring center 10; the storage battery state monitoring module 1 is used to collect the battery status Voltage, current, and calculate the state of charge of the battery, and transmit the above data to the monitoring center 10; the server 5 of the expressway transportation department is used to send the catenary 24 state of the expressway section ahead, the real-time road condition of the expressway to the monitoring center 10 ; The monitoring center is used to receive the data from the GPS satellite map data receiving module 4, the force detection module 3 of the collector pole, the camera monitoring module 2 of the collector pole, and the battery status monitoring module 1 and analyze the obtained signals. Results The charging and discharging speed of the battery, the driving speed of the truck 22 and the adjustment of the collecting poles were controlled respectively through the battery charging and discharging speed control module 6, the prompt module for overtaking and changing lanes 7, the truck driving speed control module 8, and the collector pole height and angle control module 9 11 height and angle, and determine the safe area for overtaking and changing lanes, prompting the overtaking and changing lane prompting module 7 to prompt for overtaking and changing lanes; the battery charging and discharging speed control module 6 is used to control the charging speed of the battery; the overtaking and lane changing prompting module 7 is used To receive the overtaking signal sent by the monitoring center for the driver's reference; the truck speed control module 8 is used to control the speed of the truck 22; the collector pole height and angle control module 9 is used to make the pantograph of the collector pole 11 contact with the The pressure between the nets 24 is maintained within the specified range.

In the present invention, the height and angle control module 9 of the collector rod includes a rotating platform 21 connected to the collector rod 11, the rotating platform 21 is connected with the bull gear 12 through a shaft, the bull gear 12 meshes with the pinion 20, and the pinion 20 Connected with the stepping motor 19; the stepping motor 19 drives the pinion 20 to rotate, the pinion 20 drives the large gear 12 to rotate, and the large gear 12 drives the rotating platform 21 to rotate; the stepping motor 19 is placed on the upper base plate 13, and the upper base plate 13 is lowered A lifting support device 18 and a hydraulic cylinder 17 are arranged in turn. The piston rod of the hydraulic cylinder 17 passes through the center of the lower base plate 14 and is connected with the upper base plate 13; The cavity is connected with the upper hydraulic oil pipe 16, and the upper floor can be lifted by controlling the flow of hydraulic oil in the lower hydraulic oil pipe 15 and the upper hydraulic oil pipe 16. When the height of the collector pole 11 is lower than the height of the catenary 24, by controlling the upper hydraulic oil pipe 16, the upper base plate 13 is driven to move up, so that the height of the collector pole 11 is the same as that of the catenary 24; When the catenary 24 has a certain distance in the horizontal plane, the stepper motor 19 drives the pinion 20 to move, and then drives the large gear 12 and the rotating platform 21 to rotate, so that the collector pole 11 is placed on the transmission line of the catenary 24.

A monitoring method using the above-mentioned expressway truck monitoring system based on catenary electric propulsion technology:

The GPS satellite map data receiving module 4 collects the real-time position of the catenary 24 position and the truck 22; the collector pole force detection module 3 collects the force data of the collector pole 11; the collector pole camera monitoring module 2 collects the collector pole camera to shoot The battery state monitoring module 1 collects the voltage and current of the battery, and calculates the state of charge of the battery; the server 5 of the expressway transportation department collects the status of the catenary 24 of the expressway section in front, and the real-time road conditions of the expressway;

The monitoring center 10 adjusts the running speed of the truck 22 according to the real-time road conditions of the expressway and the catenary 24 status of the expressway section ahead, and controls the speed control of the truck when the traffic flow of the expressway section ahead is greater than a certain threshold or the catenary breaks down. Module 8 causes the truck to travel at a reduced speed;

The monitoring center 10 determines the height difference and angle difference between the collector pole 11 and the catenary 24 according to the video information captured by the collector pole camera, and then controls the height and angle control module 9 pairs of the collector pole 11 according to the force data of the collector pole 11 The height and angle of the collector rod 11 are fine-tuned so that the pressure between the pantograph of the collector rod 11 and the catenary 24 is kept within the specified range;

The monitoring center 10 determines the charging and discharging speed of the battery according to the voltage, current, state of charge of the battery, and the state of the catenary 24 of the highway section ahead, and controls the battery charging and discharging speed control module 6 if the catenary 24 of the highway section ahead fails. Make accumulator fast charging; If the catenary 24 of highway section ahead is normal, then control accumulator charge and discharge speed control module 6 and accumulator is charged with preset charging speed;

The monitoring center 10 determines the position of the truck 22 in the expressway and the position of the power transmission line of the catenary 24 in the expressway according to the real-time position of the catenary 24 position and the truck 22, when the distance of the truck from the catenary 24 is greater than the set threshold , the monitoring center 10 sends an alarm to remind the driver to adjust the driving direction of the truck 22 so that the distance between the truck 22 and the catenary 24 remains within the set threshold; The safety zone 23 of network 24 state settings trucks overtaking and changing lanes, when trucks 22 arrive at this safety zone, monitoring center 10 sends overtaking signal to overtaking and changing lane prompting module 7, and the driver overtakes according to this overtaking signal.

It should be understood that those skilled in the art can make improvements or changes based on the above description, and all these improvements and changes should belong to the protection scope of the appended claims of the present invention.

Claims (3)

1. A method that adopts a highway truck monitoring system based on catenary electric propulsion technology to monitor, said highway truck monitoring system based on catenary electric propulsion technology includes a monitoring center, and said monitoring center is connected with GPS satellite map data respectively Receiving module, force detection module of collector pole, camera monitoring module of collector pole, battery status monitoring module, battery charge and discharge speed control module, overtaking lane changing prompt module, truck driving speed control module, height and angle control module of collector pole connected; characterized in that: Collect the catenary position, the state of the catenary on the highway section ahead, and the real-time position of the truck; collect the force data of the collecting pole; collect the video information captured by the camera of the collecting pole; collect the voltage and current of the battery, and calculate the charge of the battery Status; collect real-time traffic conditions of the expressway; According to the real-time road condition information of the expressway and the catenary status of the expressway section in front, adjust the driving speed of the truck, and control the truck to reduce the speed when the traffic flow of the expressway section in front is greater than a certain threshold or the catenary in front fails; Determine the height difference and angle difference between the collector pole and the catenary according to the video information captured by the collector pole camera, and then fine-tune the height and angle of the collector pole according to the force data of the collector pole, so that the power receiving pole The pressure between the bow and the catenary is maintained within the specified range; According to the battery voltage, current, state of charge of the battery, and the state of the catenary of the highway section ahead, determine the charging and discharging speed of the battery. If the catenary of the highway section ahead is faulty, the battery will be charged quickly; if the catenary of the highway section ahead is normal , the battery will be charged at the preset charging speed; Determine the position of the truck on the expressway and the position of the transmission line of the catenary on the expressway according to the position of the catenary and the real-time position of the truck. When the distance of the truck from the catenary is greater than the set threshold, the monitoring center will send out an alarm to remind the driver Adjust the driving direction of the truck to keep the distance between the truck and the catenary within the set threshold; set the safe area for the truck to overtake and change lanes according to the real-time position of the truck, the real-time road conditions of the expressway, and the status of the catenary on the highway section ahead. When arriving at this safety zone, the monitoring center sends out an overtaking signal, and the driver overtakes according to the overtaking signal. 2. The method according to claim 1, characterized in that: the monitoring center is connected with a server of the expressway transportation department. 3. The method according to claim 1, characterized in that: the height and angle control module of the collecting pole comprises a rotating platform connected with the collecting pole, the rotating platform is connected with the large gear, the large gear meshes with the pinion, and the small gear meshes with the small gear. The gear is connected with the stepping motor, and the stepping motor is placed on the upper base plate, and the lifting support device and the hydraulic cylinder are arranged in sequence under the upper base plate, and the piston rod of the hydraulic cylinder passes through the center of the lower base plate to connect with the upper base plate; The rod chamber is connected with the lower hydraulic oil pipe, and the rodless chamber of the hydraulic cylinder is connected with the upper hydraulic oil pipe.