CN106855413A - The determination methods and its device in a kind of locomotive operation direction - Google Patents
The determination methods and its device in a kind of locomotive operation direction Download PDFInfo
- Publication number
- CN106855413A CN106855413A CN201611260397.3A CN201611260397A CN106855413A CN 106855413 A CN106855413 A CN 106855413A CN 201611260397 A CN201611260397 A CN 201611260397A CN 106855413 A CN106855413 A CN 106855413A
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- CN
- China
- Prior art keywords
- angle
- compass
- headstock
- locomotive
- judge
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C17/00—Compasses; Devices for ascertaining true or magnetic north for navigation or surveying purposes
- G01C17/38—Testing, calibrating, or compensating of compasses
-
- 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
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Automation & Control Theory (AREA)
- Gyroscopes (AREA)
Abstract
The invention discloses the determination methods and its device in a kind of locomotive operation direction, the method includes：S1, judge whether compass corrects, if performing S2, S2 is performed after being otherwise corrected to compass；S2, the angle Δ for obtaining headstock and compass；S3, obtain headstock course angle β, and compass angle of deflection；Whether S4, judgement | α β | if it is judge headstock to advance equal to Δ；Otherwise judge whether | α β | are equal to | 180 ° of Δs |, if it is judge that headstock, to retreat, otherwise terminates flow.The advantage of the invention is that under not changing the part on locomotive wheel or periphery, realizing the judgement of car forward-reverse.On the basis of locomotive dispatching system location hardware equipment, an electronic compass is added, using the combination of GNSS technologies and electronic compass technology, realization judges the forward-reverse of locomotive.
Description
Technical field
The present invention relates to the determination methods and its device in locomotive operation direction.
Background technology
Present engineering machinery field, project is more and more huger, depends merely on behavior adjustment management and seems more and more laborious.Heavy construction machine
Tool project has mostly used automation platform management, so as to improve engineering management efficiency.And in engineering machinery project management, relate to
And locating and tracking management, the task distribution and scheduling of being optimal are carried out to construction engine.During the tracking of locomotive, sentence
The advance of off line car, retrogressing are one of tasks therein.All it is the steering by judging wheel in conventional scheme, reaches
Realize the identification to the forward-reverse of locomotive.The method is utilized in the place of wheel or its power connector, installs individual extra additional
Sensor device (grating sensor, Hall sensor etc.), then monitors the steering of wheel, reaches and judges that locomotive forward-reverse is imitated
Really.
Technical scheme above, maximum shortcoming is that additional sensors equipment is added on wheel.It is corresponding on locomotive
Component structural, has already been molded.Extra sensor element is now welded with again.To some structures on locomotive, function,
The aspect such as attractive in appearance, or or I haven't seen you for ages impacts.Sensor is connected to the junctions such as the wheel of rigidity, certainly will follow wheel one
Rise, receive relatively frequently irregular vibration, if PROCESS FOR TREATMENT is bad, sensor is easy to come off or is damaged due to vibration
It is bad.Additionally, from user psychology, also the extra equipment of not very willing addition, can bring the addition of extra cost.
The content of the invention
In order to overcome the deficiencies in the prior art, it is an object of the invention to provide locomotive operation direction determination methods and its
Device, it can be solved.
The purpose of the present invention is realized using following technical scheme：
A kind of determination methods in locomotive operation direction, comprise the following steps：
S1, judge whether compass corrects, if performing S2, S2 is performed after being otherwise corrected to compass；
S2, the angle Δ for obtaining headstock and compass；
S3, obtain headstock course angle β, and compass angle of deflection；
Whether S4, judgement | alpha-beta | if it is judge headstock to advance equal to Δ；Otherwise judge whether | alpha-beta | is equal to |
180 °-Δ |, if it is judge that headstock, to retreat, otherwise terminates flow.
Preferably, compass compensation is in S1：Pitch of the laps is travelled locomotive to the left or to the right, until compass completes to correct.
Preferably, S2 is specifically included：When locomotive straight line is to front/rear traveling, timing acquisition compass angle of deflectioniAnd car
The course angle β of headi, until getting N number of angle of deflectioniWith N number of course angle βi, according to formulaIt is calculated
Angle Δ.
A kind of judgment means in locomotive operation direction, including：
First judge module, for judging whether compass corrects, if performing the first acquisition module, otherwise enters to compass
The first acquisition module is performed after row correction；
First acquisition module, the angle Δ for obtaining headstock and compass；
The angle of deflection of the second acquisition module, the course angle β for obtaining headstock, and compass；
Whether second judge module, for judging | alpha-beta | equal to Δ, if it is judges headstock to advance；Otherwise judge |
Alpha-beta | whether | 180 °-Δ | are equal to, if it is judge that headstock, to retreat, otherwise terminates flow.
Preferably, the first acquisition module is specifically included：When locomotive straight line is to front/rear traveling, timing acquisition compass is inclined
Corner αiWith the course angle β of headstocki, until getting N number of angle of deflectioniWith N number of course angle βi, according to formulaIt is calculated angle Δ.
Compared to existing technology, the beneficial effects of the present invention are：Do not change under the part on locomotive wheel or periphery, realize Chinese herbaceous peony
Enter the judgement of retrogressing.On the basis of locomotive dispatching system location hardware equipment, an electronic compass is added, using GNSS technologies
With the combination of electronic compass technology, realize judging the forward-reverse of locomotive.
Brief description of the drawings
Fig. 1 is the flow chart of determination methods of the invention；
Fig. 2 is the relation schematic diagram of course angle β, angle of deflection and angle Δ of the locomotive of the invention when advancing；
Fig. 3 is the relation schematic diagram of course angle β, angle of deflection and angle Δ of the locomotive of the invention when retreating.
Specific embodiment
Below, with reference to accompanying drawing and specific embodiment, the present invention is described further：
The purpose of the present invention, is under the part for not changing locomotive wheel or periphery, to realize the judgement of car forward-reverse.In machine
On the basis of car scheduling system location hardware equipment, an electronic compass is added, using GNSS technologies and electronic compass technology
With reference to reaching the purpose of the forward-reverse for judging locomotive.Because electronic compass is that addition is positioned in original scheduling system GNSS
Equipment the inside, will not change structure of locomotive.More, an equipment for meeting user's requirement just can be real for convenient before relatively, practicality
The demand of existing multiple function, without adding outer sensor again.
A kind of determination methods in locomotive operation direction, as shown in figure 1, comprising the following steps：
Step 101, judge whether compass corrects, if performing step 102, step is performed after being otherwise corrected to compass
Rapid 102；Specifically, compass compensation is：Pitch of the laps is travelled locomotive to the left or to the right, and compass can be automatic complete according to the pitch of the laps of locomotive traveling
Into correction, until compass completes to correct, locomotive then stops pitch of the laps traveling.
Step 102, the angle Δ for obtaining headstock and compass.Specifically, the acquisition methods of angle Δ comprise the following steps：
Locomotive straight line to just front/rear to traveling, the course angle β of timing acquisition compass angle of deflection and headstock, until getting
N number of angle of deflectioniWith N number of course angle βi, according to formulaIt is calculated angle Δ；Wherein N is predetermined number.
For example, setting obtains compass angle of deflection successively in each secondiWith the course angle β of headstocki, set and obtain 20 angle of deflection altogetheriWith
20 course angle βi, then by every a pair of angle of deflectioniWith course angle βiAsk poor, then seek 20 pairs of poor average values, obtain final
Angle Δ.In the present embodiment, positive forward direction is positive north orientation.
As shown in Fig. 2 in the present embodiment, the course angle β of headstock is the moving direction that headstock is arrived on positive north orientation edge clockwise
Angle；The angle of deflection of compass is the angle that compass is deflected from positive north orientation.
Step 103, obtain headstock course angle β, and compass angle of deflection.
Whether step 104, judgement | alpha-beta | if it is judge headstock be advance equal to Δ；Otherwise whether judge | alpha-beta |
| 180 °-Δ | are equal to, if it is judge that headstock, to retreat, otherwise terminates flow.
When the headstock of locomotive points to a geographic direction to advance, the direction of headstock is constant, so the electricity on locomotive
The result that sub- compass shows is that α is fixed, and now course angle β can also draw from the location information of GNSS the inside.
The angle Δ that locomotive head deviates with compass so can be just drawn, this angle is fixed angle, if do not changed
It is forever this angle Δ, coincidence formula during installation direction on locomotive of equipment where electronic compass：Δ=| alpha-beta |.
When the headstock of locomotive points to geographic direction advance, retrogressing, a right left, in fact car is impossible car
Head is translated along direction or so, only forward-reverse.Because the direction of headstock is constant, so the electronics on locomotive
Result that compass shows or constant.As shown in figure 3, when locomotive is retreated, course angle β differences when course angle β ' and advance
180 °, and angle Δ ' and the relational expression of angle of deflection and course angle β ' now is：Δ '=| alpha-beta ' |=| 180 °-Δ |.
Using the method, zero inclined fixed angle Δ of headstock and compass when locomotive advances, backward again by course angle and compass
Show that the difference of angle is contrasted with Δ, if in the error range of Δ, then it is assumed that locomotive is to advance；If in Δ
Supplementary angle in the range of, then it is assumed that locomotive be retreat.
The present invention possesses following characteristics：
1st, the combination of GNSS positioning courses and electronic compass.Conventional scheme is monitoring car wheel form to be realized judging locomotive
Forward-reverse, it is relatively cumbersome installing although technically rationally reliable.Existing technology positions course with electricity using GNSS
The difference of sub- compass azimuth is judged that digital independent gets from GNSS module and electrical compass module, convenience and high-efficiency.
2nd, electronic module is integrated.Can be by the integrated original GNSS device the inside of electrical compass module, without extra
Equipment.
3rd, simplify and install.Conventional scheme must carry out transforming addition equipment on wheel equal power device, due to various
The limitation of aspect, wastes time and energy.Without considering to install the sensor for judging forward-reverse, because having been integrated with original GNSS
Location equipment the inside.
4th, the damage of uncertain factor is reduced.Integrated the characteristics of is exactly the damage for reducing foeign element to external devices.
Scheme used external sensor in the past, exist connecting line damage, sensor vibration help come off, sensor ageing, damaged in collision etc..
Integrate now, eliminate the misgivings in terms of these, improve product stability and reliability.
It will be apparent to those skilled in the art that technical scheme that can be as described above and design, make other various
It is corresponding to change and deformation, and all these change and deformation should all belong to the protection domain of the claims in the present invention
Within.
Claims (5)
1. a kind of determination methods in locomotive operation direction, it is characterised in that comprise the following steps：
S1, judge whether compass corrects, if performing S2, S2 is performed after being otherwise corrected to compass；
S2, the angle Δ for obtaining headstock and compass；
S3, obtain headstock course angle β, and compass angle of deflection；
Whether S4, judgement | alpha-beta | if it is judge headstock to advance equal to Δ；Otherwise judge whether | alpha-beta | is equal to | 180 °-
Δ |, if it is judge that headstock, to retreat, otherwise terminates flow.
2. determination methods as claimed in claim 1, it is characterised in that compass compensation is in S1：Locomotive pitch of the laps to the left or to the right
Traveling, until compass completes to correct.
3. determination methods as claimed in claim 1, it is characterised in that S2 is specifically included：In locomotive straight line to front/rear traveling
When, timing acquisition compass angle of deflectioniWith the course angle β of headstocki, until getting N number of angle of deflectioniWith N number of course angle βi, root
According to formulaIt is calculated angle Δ.
4. a kind of judgment means in locomotive operation direction, it is characterised in that including：
First judge module, for judging whether compass corrects, if performing the first acquisition module, otherwise carries out school to compass
The first acquisition module is just performed afterwards；
First acquisition module, the angle Δ for obtaining headstock and compass；
The angle of deflection of the second acquisition module, the course angle β for obtaining headstock, and compass；
Whether second judge module, for judging | alpha-beta | equal to Δ, if it is judges headstock to advance；Otherwise judge | alpha-beta |
Whether | 180 °-Δ | are equal to, if it is judge that headstock, to retreat, otherwise terminates flow.
5. judgment means as claimed in claim 4, it is characterised in that the first acquisition module is specifically included：Locomotive straight line to
During front/rear traveling, timing acquisition compass angle of deflectioniWith the course angle β of headstocki, until getting N number of angle of deflectioniWith N number of boat
To angle betai, according to formulaIt is calculated angle Δ.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611260397.3A CN106855413A (en) | 2016-12-30 | 2016-12-30 | The determination methods and its device in a kind of locomotive operation direction |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611260397.3A CN106855413A (en) | 2016-12-30 | 2016-12-30 | The determination methods and its device in a kind of locomotive operation direction |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106855413A true CN106855413A (en) | 2017-06-16 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611260397.3A Pending CN106855413A (en) | 2016-12-30 | 2016-12-30 | The determination methods and its device in a kind of locomotive operation direction |
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| CN (1) | CN106855413A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110018502A (en) * | 2019-03-07 | 2019-07-16 | 清博（昆山）智能科技有限公司 | A kind of satellite positioning modification method |
| CN110412632A (en) * | 2019-08-26 | 2019-11-05 | 广州极飞科技有限公司 | Determination method and device, the system in the course of unmanned equipment |
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2016
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| CN101746328A (en) * | 2008-12-11 | 2010-06-23 | 现代摩比斯株式会社 | Control method for vehicle |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110018502A (en) * | 2019-03-07 | 2019-07-16 | 清博（昆山）智能科技有限公司 | A kind of satellite positioning modification method |
| CN110412632A (en) * | 2019-08-26 | 2019-11-05 | 广州极飞科技有限公司 | Determination method and device, the system in the course of unmanned equipment |
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Application publication date: 20170616 |