CN106364526B - A kind of tunnel construction new energy rail electric locomotive real-time high-precision automatic station-keeping system - Google Patents
A kind of tunnel construction new energy rail electric locomotive real-time high-precision automatic station-keeping system Download PDFInfo
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- CN106364526B CN106364526B CN201610839188.8A CN201610839188A CN106364526B CN 106364526 B CN106364526 B CN 106364526B CN 201610839188 A CN201610839188 A CN 201610839188A CN 106364526 B CN106364526 B CN 106364526B
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- Prior art keywords
- beacon
- wireless
- central controller
- orbit motor
- motor car
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L25/00—Recording or indicating positions or identities of vehicles or vehicle trains or setting of track apparatus
- B61L25/02—Indicating or recording positions or identities of vehicles or vehicle trains
- B61L25/025—Absolute localisation, e.g. providing geodetic coordinates
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S1/00—Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith
- G01S1/02—Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith using radio waves
- G01S1/08—Systems for determining direction or position line
Abstract
The invention discloses a kind of tunnel construction new energy rail electric locomotive real-time high-precision automatic station-keeping system, including central controller, multiple wireless beacons, data acquisition module and multiple sensors, multiple wireless beacons are fixedly mounted in tunnel, central controller is arranged on orbit motor car, multiple wireless beacons pass through wireless radio frequency transmission network connection central controller, data acquisition module connects multiple sensors, data acquisition module passes through wireless radio frequency transmission network connection central controller, central controller connects remote monitoring terminal and hand-held collection control terminal respectively by WIFI communication networks, structural principle of the present invention is simple, realize the real-time location monitoring to orbit motor car, in time Information base is provided for the adjustment of orbit motor car running status, so as to provide support for the intelligent control of orbit motor car.
Description
Technical field
The present invention relates to orbit motor car field of locating technology, specially a kind of tunnel construction new energy rail electric locomotive is real
When High Precision Automatic alignment system.
Background technology
With the propulsion of urbanization process, for guiding urban structure readjustment, optimization space layout, land use effect is improved
Rate, China constantly promote the construction of urban track traffic, and each place government also actively prepares, and submit Construction of Urban Rail Traffic rule
Draw.This all will bring the huge market demand for each sub-industry of urban track traffic.
Traction locomotive is a kind of draw-gear of rail vehicle transport as the visual plant in urban rail transit construction,
In track traffic infrastructure, play an important role, long range, large-tonnage material transportation when being widely used in tunnel piercing.
Especially widely used in the constructing tunnel construction such as city underground, bomb shelter, flood discharge passage construction.Most of tunnel transport at present
Locomotive is all electric locomotive, and the tunnel construction orbit motor car that dc source is supplied using new energy power module is research and development
Main flow.How to realize under tunnel adverse circumstances, the real-time high-precision positioning of orbit motor car is current tunnel construction track
One big difficult point of electric locomotive system research.
For positioning, the system being widely used at present has mobile cellular net, GPS geo-location system and China
Big-dipper satellite alignment system of independent research etc..GPS, BEI-DOU position system are positioned using the multi-satellite for spreading all over space,
Have the characteristics that precision is high, round-the-clock, be widely used in the whole world, in personal location navigation, the management and running of shipping vehicle, army
Played a significant role in thing.But GPS, BEI-DOU position system in building, the region that is blocked of inferior satellite-signal,
Can not normally it position.With the development of mobile cellular communication network, occur mobile cellular network location technology and GPS location
The A-GPS alignment systems that system is combined, which overcome after gps satellite signal is blocked and the shortcomings that positioning blind area be present, fixed
Position aspect has some superiority.Due to can not all be reached in tunnel depths, gps signal and ground moving cellular network signals,
This just constrains application of these technologies in tunnel construction, and the positioning of tunnel construction orbit motor car real-time high-precision must be warded off separately
Path.
In addition, the wire signal transmission tunnel placement system based on RFID identification technology, is entered by launching radiofrequency signal
Row data exchange and identification, its positioning precision is poor, 5 meters or so of position error be present, during can not meeting tunnel construction
Requirement of some ad-hoc locations to positioning precision.
The content of the invention
It is automatically positioned it is an object of the invention to provide a kind of tunnel construction new energy rail electric locomotive real-time high-precision and is
System, to solve the problems mentioned in the above background technology.
To achieve the above object, the present invention provides following technical scheme：A kind of tunnel construction new energy rail electric locomotive is real
When High Precision Automatic alignment system, including central controller, multiple wireless beacons, data acquisition module and multiple sensors,
The multiple wireless beacon is fixedly mounted in tunnel, and the central controller is arranged on orbit motor car, and the center
Mobile beacon is installed, the multiple wireless beacon passes through wireless radio frequency transmission network connection central controller, institute in controller
State data acquisition module and connect multiple sensors, the data acquisition module is controlled by wireless radio frequency transmission network connection center
Device, the central controller connect remote monitoring terminal and hand-held collection control terminal respectively by WIFI communication networks；
Also include sonar unit, the sonar unit is fixedly mounted at wireless beacon；The multiple wireless beacon includes
First wireless beacon, the second wireless beacon, the 3rd wireless beacon, N wireless beacons, N are integer more than 3, two neighboring nothing
Spacing is 90 meters -110 meters between line beacon；The multiple sensor include infrared probe, ultrasonic probe, video sensor and
Automatic Pilot orbit motor truck position velocity aid sensor, the infrared probe, ultrasonic probe, video sensor installation are in-orbit
Road electric locomotive is anterior, and the automatic Pilot orbit motor truck position velocity aid sensor is arranged on orbit motor car wheel；
The wireless radio frequency transmission network uses the transmission channel of 2.4G less radio-frequencies；
Its application method comprises the following steps：
A, multiple wireless beacons are laid in advance in tunnel, timing sends radiofrequency signal, and the position of wireless beacon is tested
Go out and be stored in computer；
B, a mobile beacon is carried on the central controller on orbit motor car, this mobile beacon periodically receives tunnel
After the signal that the wireless beacon nearest apart from orbit motor car is sent in road；
C, now, locomotive mobile beacon sends answer signal to the wireless beacon of setting on the ground, you can knows carrying
In the range of the wireless signal for the wireless beacon that the orbit motor car of mobile beacon is rest on the ground；Received according to fixed beacon
Signal intensity, to estimate the distance of orbit motor car and the fixed beacon nearest apart from locomotive, realize positioning.
Compared with prior art, the beneficial effects of the invention are as follows：
(1) structural principle of the present invention is simple, realizes the real-time location monitoring to orbit motor car, is in time orbit motor
The adjustment of car running status provides Information base, so as to provide support for the intelligent control of orbit motor car.
(2) present invention is by setting multiple wireless beacons, solves that transmission of wireless signals is unstable and of poor quality, and it is fixed to cause
The problem of position low precision.
(3) present invention is optimized to less radio-frequency location technology, realized by installing sonar unit additional at wireless beacon
Being accurately positioned on the basis of original 2-3 rice position error.
Brief description of the drawings
Fig. 1 is schematic structural view of the invention.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, rather than whole embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained every other under the premise of creative work is not made
Embodiment, belong to the scope of protection of the invention.
Referring to Fig. 1, the present invention provides a kind of technical scheme：A kind of tunnel construction new energy rail electric locomotive is high-precision in real time
Automatic station-keeping system, including central controller 1, multiple wireless beacons, data acquisition module 2 and multiple sensors are spent, it is described
Multiple wireless beacons are fixedly mounted in tunnel, and the central controller 1 is arranged on orbit motor car, and the center control
Mobile beacon is installed, the multiple wireless beacon connects central controller 1 by wireless radio frequency transmission network 3, wirelessly in device 1
Radio frequency transmission network 3 uses the transmission channel of 2.4G less radio-frequencies；The data acquisition module 2 connects multiple sensors, described
Data acquisition module 2 connects central controller 1 by wireless radio frequency transmission network 3, and the central controller 1 is communicated by WIFI
Network 4 connects remote monitoring terminal 5 and hand-held collection control terminal 6 respectively；Also include sonar unit 7, the sonar unit 7 fixes peace
At wireless beacon, the present invention by wireless beacon install additional sonar unit, less radio-frequency location technology is optimized,
Realize being accurately positioned on the basis of original 23 meters of position errors.
In the present embodiment, multiple wireless beacons include the first wireless beacon 8, the second wireless beacon 9, the 3rd wireless beacon
10th, N wireless beacons, N are integer more than 3, and spacing is 90 meters -110 meters between two neighboring wireless beacon.Wireless beacon
Position needs Dynamic calculation, using the dynamic calculation of wheel circumference, passes through the sensor statistics vehicle wheel rotation circle on wheel
Number, to determine orbit motor car travel distance, so that it is determined that new wireless beacon installation site, the present invention is multiple wireless by setting
Beacon, it is unstable and of poor quality to solve transmission of wireless signals, the problem of causing positioning precision difference.
In the present embodiment, multiple sensors include infrared probe 11, ultrasonic probe 12, video sensor 13 and driven automatically
Orbit motor truck position velocity aid sensor 14 is sailed, the infrared probe 11, ultrasonic probe 12, video sensor 13 are arranged on
Orbit motor Chinese herbaceous peony portion, the automatic Pilot orbit motor truck position velocity aid sensor 14 are arranged on orbit motor car wheel
On, in the present invention, by installing the sensing device furthers such as infrared probe, ultrasonic probe, video sensor in track electric locomotive front portion, come
Judge that front obstacle type, and orbit motor overall height precision real-time positioning system are engaged, timely and effective obstacle avoidance.
The application method of the present invention comprises the following steps：
A, multiple wireless beacons are laid in advance in tunnel, timing sends radiofrequency signal, and the position of wireless beacon is tested
Go out and be stored in computer；
B, a mobile beacon is carried on the central controller on orbit motor car, this mobile beacon periodically receives tunnel
After the signal that the wireless beacon nearest apart from orbit motor car is sent in road；
C, now, locomotive mobile beacon sends answer signal to the wireless beacon of setting on the ground, you can knows carrying
In the range of the wireless signal for the wireless beacon that the orbit motor car of mobile beacon is rest on the ground；Received according to fixed beacon
Signal intensity, to estimate the distance of orbit motor car and the fixed beacon nearest apart from locomotive, realize positioning.
Structural principle of the present invention is simple, realizes the real-time location monitoring to orbit motor car, is in time orbit motor car
Running status adjustment provides Information base, so as to provide support for the intelligent control of orbit motor car.
Although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
A variety of changes, modification can be carried out to these embodiments, replace without departing from the principles and spirit of the present invention by understanding
And modification, the scope of the present invention is defined by the appended.
Claims (1)
1. a kind of tunnel construction new energy rail electric locomotive real-time high-precision automatic station-keeping system, including it is central controller (1), more
Individual wireless beacon, data acquisition module (2) and multiple sensors, it is characterised in that：The multiple wireless beacon is fixedly mounted
In tunnel, the central controller (1) is arranged on orbit motor car, and is provided with movement in the central controller (1)
Beacon, the multiple wireless beacon connect central controller (1), the data acquisition module by wireless radio frequency transmission network (3)
Block (2) connects multiple sensors, and the data acquisition module (2) connects central controller by wireless radio frequency transmission network (3)
(1), the central controller (1) connects remote monitoring terminal (5) and hand-held collection control terminal by WIFI communication networks (4) respectively
(6)；
Also include sonar unit (7), the sonar unit (7) is fixedly mounted at wireless beacon；The multiple wireless beacon bag
The first wireless beacon (8), the second wireless beacon (9), the 3rd wireless beacon (10) and N wireless beacons are included, N is whole more than 3
Count, spacing is 90 meters -110 meters between two neighboring wireless beacon；The multiple sensor includes infrared probe (11), ultrasound is visited
Head (12), video sensor (13) and automatic Pilot orbit motor truck position velocity aid sensor (14), the infrared spy
Head (11), ultrasonic probe (12) and video sensor (13) are arranged on orbit motor Chinese herbaceous peony portion, the automatic Pilot orbit motor
Truck position velocity aid sensor (14) is arranged on orbit motor car wheel；The wireless radio frequency transmission network (3) uses
The transmission channel of 2.4G less radio-frequencies；
Its application method comprises the following steps：
A, multiple wireless beacons are laid in advance in tunnel, timing sends radiofrequency signal, and the position of wireless beacon is measured simultaneously
It is stored in computer；
B, a mobile beacon is carried on the central controller on orbit motor car, this mobile beacon is periodically received in tunnel
After the signal that the wireless beacon nearest apart from orbit motor car is sent；
C, now, locomotive mobile beacon sends answer signal to the wireless beacon of setting on the ground, you can knows carrying movement
In the range of the wireless signal for the wireless beacon that the orbit motor car of beacon is rest on the ground；The signal received according to fixed beacon
Intensity, to estimate the distance of orbit motor car and the fixed beacon nearest apart from locomotive, realize positioning.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610839188.8A CN106364526B (en) | 2016-09-22 | 2016-09-22 | A kind of tunnel construction new energy rail electric locomotive real-time high-precision automatic station-keeping system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610839188.8A CN106364526B (en) | 2016-09-22 | 2016-09-22 | A kind of tunnel construction new energy rail electric locomotive real-time high-precision automatic station-keeping system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106364526A CN106364526A (en) | 2017-02-01 |
| CN106364526B true CN106364526B (en) | 2018-01-16 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112313663A (en) * | 2018-06-18 | 2021-02-02 | 祖克斯有限公司 | Occlusion aware planning |
| US10642275B2 (en) | 2018-06-18 | 2020-05-05 | Zoox, Inc. | Occulsion aware planning and control |
| CN112026851A (en) * | 2020-11-06 | 2020-12-04 | 深圳市视晶无线技术有限公司 | Method and system for monitoring obstacles in front of train |
| CN112596027A (en) * | 2020-11-06 | 2021-04-02 | 广州艾目易科技有限公司 | High-precision positioning method and system for train in tunnel |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6371416B1 (en) * | 2000-08-01 | 2002-04-16 | New York Air Brake Corporation | Portable beacons |
| CN102244897B (en) * | 2011-08-29 | 2015-04-08 | 南车南京浦镇车辆有限公司 | Method for locating subway train based on RSSI (Received Signal Strength Indicator) |
| CN102887158B (en) * | 2012-09-12 | 2016-03-23 | 苏州富欣智能交通控制有限公司 | Train position detection method |
| CN102975748B (en) * | 2012-11-29 | 2015-05-27 | 北京全路通信信号研究设计院有限公司 | Train positioning and speed measuring method and system |
| CN103220777A (en) * | 2013-01-05 | 2013-07-24 | 东莞市力王电池有限公司 | Mobile device positioning system |
| CN103818407A (en) * | 2014-02-13 | 2014-05-28 | 南京邮电大学 | Method for positioning rail vehicles in real time on basis of radio frequency identification |
| CN205206878U (en) * | 2015-12-08 | 2016-05-04 | 合肥工大高科信息科技股份有限公司 | Accurate positioner of mine unmanned engine |
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