CN109283921B - 一种智能集装箱轨道平车控制系统及轨道平车 - Google Patents

一种智能集装箱轨道平车控制系统及轨道平车 Download PDF

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CN109283921B
CN109283921B CN201811159405.4A CN201811159405A CN109283921B CN 109283921 B CN109283921 B CN 109283921B CN 201811159405 A CN201811159405 A CN 201811159405A CN 109283921 B CN109283921 B CN 109283921B
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flat car
rail flat
rail
power supply
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CN109283921A (zh
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方亚非
肖宇松
雒敏华
杨璟旻
余永金
袁登峰
吴博博
叶航行
厉佳
于兴华
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China Railway Wuhan Survey and Design and Institute Co Ltd
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Priority to EP19864116.9A priority patent/EP3779633A4/en
Priority to PCT/CN2019/071956 priority patent/WO2020062724A1/zh
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Abstract

本发明属于集装箱搬运技术领域，具体提供了智能集装箱轨道平车控制系统及轨道平车，该自动驾驶的轨道平车在轨道上进行搬运作业，一方面通过定位模块和远程监控模块实时对轨道平车进行监控，另一方面轨道平车在作业过程中随时利用轨道中的线圈通过电磁感应方式对轨道平车进行充电，该轨道平车不停歇连续运行，随时随地在作业过程中进行充电，且零排放环保节能。

Description

一种智能集装箱轨道平车控制系统及轨道平车
技术领域
本发明属于集装箱搬运技术领域，具体涉及一种智能集装箱轨道平车控制系统及轨道平车。
背景技术
目前，我国在集装箱中心站、港口、货场等场合一般采用集装箱卡车作为短途集装箱转运形式，更先进的地方出现无人驾驶集装箱卡车。这种车辆要么采用有人驾驶方式，需专门配备驾驶员，作业效率受制于人员素质不好控制。随着信息化社会的快速到来，今后工业应用场合技术发展的趋势必然是无人化、自动化、高效快捷的特点。近两年出现的无人驾驶集装箱卡车虽然实现了自动化作业，但存在着诸多不足，特别是动力蓄电池充电需定时退出平车搬运作业到固定位置进行，这种定点定时充电耗费大量作业时间且降低了作业效率。
发明内容
本发明的目的是克服现有技术中无人驾驶集装箱卡车作业效率低下的问题。
为此，本发明提供了一种智能集装箱轨道平车控制系统，包括自动驾驶模块、定位模块、无线通信模块、控制模块、远程监控模块及非接触式充电电源模块；
所述定位模块用于实时定位轨道平车的位置；
所述远程监控模块用于实时监控所述轨道平车的位置及运行状态；
所述无线通信模块用于将所述轨道平车与所述远程监控模块之间建立通信联结；
所述自动驾驶模块用于控制所述轨道平车的行驶方向及速度；
所述非接触式充电电源模块包括蓄电池及充电桩组，所述充电桩组上设有初级线圈组，所述蓄电池设有与所述初级线圈组对应的次级线圈，所述非接触式充电电源模块用于给所述定位模块、无线通信模块、控制模块及所述自动驾驶模块供电；
所述控制模块用于控制所述自动驾驶模块及所述非接触式充电电源模块的运行。
优选地，还设有报警模块，所述报警模块用来监测所述自动驾驶模块、所述定位模块、所述无线通信模块、所述控制模块、所述远程监控模块及所述非接触式充电电源模块的工作状态。
优选地，当所述蓄电池电量低于预设阈值时，所述控制模块控制所述轨道平车运行至最近的所述充电桩处进行充电。
优选地，所述定位模块包括GPS/GPRS定位、惯性导航、激光辅助精确定位及电子地图。
优选地，所述初级线圈组包括多段初级线圈，多段所述初级线圈间隔铺设在轨道上，所述车体的下端设有与所述初级线圈对应的次级线圈。
优选地，所述初级线圈与所述次级线圈之间的最小距离不大于15cm。
本发明还提供了一种智能集装箱轨道平车，其特征在于：包括车体，所述车体两端均设有牵引端头，还包括如权利要求1至6所述的控制系统，所述控制系统控制所述牵引端头沿着轨道运动。
优选地，所述轨道平车前后端均设有激光测距传感器和/或超声波测距传感器。
优选地，所述轨道上设有整流滤波及谐振逆变器，外部电源通过依次电连接所述整流滤波、所述谐振逆变器及所述初级线圈组。
优选地，所述轨道平车的所述牵引头上设有挂钩，相邻两个所述轨道平车之间通过所述挂钩连接。
本发明的有益效果：本发明提供的这种智能集装箱轨道平车控制系统及轨道平车，该自动驾驶的轨道平车在轨道上进行搬运作业，一方面通过定位模块和远程监控模块实时对轨道平车进行监控，另一方面轨道平车在作业过程中随时利用轨道中的线圈通过电磁感应方式对轨道平车进行充电，该轨道平车不停歇连续运行，随时随地在作业过程中进行充电，且零排放环保节能。
以下将结合附图对本发明做进一步详细说明。
附图说明
图1是本发明的智能集装箱轨道平车控制系统模块示意图；
图2是本发明的智能集装箱轨道平车作业原理示意图；
图3是本发明的智能集装箱轨道平车非接触式充电电路原理图。
具体实施方式
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其它实施例，都属于本发明保护的范围。
在本发明的描述中，需要理解的是，术语“中心”、“上”、“下”、“前”、“后”、“左”、“右”、“竖直”、“水平”、“顶”、“底”、“内”、“外”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本发明和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本发明的限制。
术语“第一”、“第二”仅用于描述目的，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”的特征可以明示或者隐含地包括一个或者更多个该特征；在本发明的描述中，除非另有说明，“多个”的含义是两个或两个以上。
实施例一：
本发明实施例提供了一种智能集装箱轨道平车控制系统，包括自动驾驶模块、定位模块、无线通信模块、控制模块、远程监控模块及非接触式充电电源模块；所述定位模块用于实时定位轨道平车的位置；所述远程监控模块用于实时监控所述轨道平车的位置及运行状态；所述无线通信模块用于将所述轨道平车与所述远程监控模块之间建立通信联结；所述自动驾驶模块用于控制所述轨道平车的行驶方向及速度；所述非接触式充电电源模块包括蓄电池及充电桩组，所述充电桩组上设有初级线圈组，所述蓄电池设有与所述初级线圈组对应的次级线圈，所述非接触式充电电源模块用于给所述定位模块、无线通信模块、控制模块及所述自动驾驶模块供电；所述控制模块用于控制所述自动驾驶模块及所述非接触式充电电源模块的运行。
由此可知，如图1和图2所示，轨道平车运行在轨道上，通过无线通信模块与远处的远程监控模块进行通信，远处的工作人员可以实时监控现场的轨道平车的运行状态，尤其可以实时监测到轨道上的轨道平车的电量，其中无线通信模块包括WiFi、4G或者无线电波，远程监控模块包括计算机和信号接收端，通过计算机对远处的轨道平车进行操控。轨道平车上设有控制模块，控制模块包括单片机，通过单片机来控制定位模块、自动驾驶模块和非接触式充电电源模块，其中定位模块包括GPS定位系统或北斗定位导航系统，自动驾驶模块包括图像识别芯片组、超声波传感器、红外传感器以及雷达等，通过这些传感器的数据来实时控制轨道平车的电机，进而实现轨道平车的自动驾驶。当远程监控模块监测到轨道平车的电量不足时，发送指令给控制模块，控制模块控制控制非接触式充电电源模块开始充电。具体地，所述非接触式充电电源模块包括蓄电池及充电桩组，所述充电桩组上设有初级线圈组，充电桩组设在轨道上，蓄电池设有与所述初级线圈组对应的次级线圈，初级线圈上通交流电时，通过电磁感应即可在次级线圈上形成电流，便可以实现充电过程，充电的开始与关闭都是通过控制模块来控制。由于充电方式为非接触式，因此轨道平车可以在工作的同时进行充电。
该运行于轨道上的采用蓄电池动力的集装箱轨道平车，包括由两个端部车体与中间的集装箱运输车体组成的一体化车身，中间车体可装载两个20ft集装箱或一个40ft集装箱。两个端部车体下分别安装一台两轴转向架，两轴转向架与端部车体构架间设置心盘联接。
优选地方案，还设有报警模块，所述报警模块用来监测所述自动驾驶模块、所述定位模块、所述无线通信模块、所述控制模块、所述远程监控模块及所述非接触式充电电源模块的工作状态。当所述自动驾驶模块、所述定位模块、所述无线通信模块、所述控制模块、所述远程监控模块及所述非接触式充电电源模块中的任一一个模块出现故障后便开始报警，远程的工作人员便可以操控该轨道平车退出作业现场或停下来等待检修。
优选地方案，当所述蓄电池电量低于预设阈值时，所述控制模块控制所述轨道平车运行至最近的所述充电桩处进行充电。由此可知，控制轨道平车至最近的充电桩处进行静止充电，能最快将电充满，也可以边工作边充电。
优选地方案，所述定位模块包括GPS/GPRS定位、惯性导航、激光辅助精确定位及电子地图。
优选地方案，所述初级线圈组包括多段初级线圈，多段所述初级线圈间隔铺设在轨道上，所述车体的下端设有与所述初级线圈对应的次级线圈。由此可知，输入电源从配电所获取电能后，经过第一整流滤波电路整流滤波后，输出直流电至高频逆变器，产生的高频交变电流在控制开关的控制下，输入至分离式耦合变压器的初级线圈绕组，初级线圈绕组为敷设在轨道内平行于轨道的一个个独立分段供电线圈。初级线圈绕组在临近空间产生耦合高频交变磁通，通过感应耦合产生的高频交变磁通，使位于轨道平车底架上的次级线圈绕组获取感应电动势，再经过第二整流滤波电路后，完成向车载蓄电池快速充电。充电系统通过分离式耦合变压器交换能量，实现了轨道平车能够在运行中随时充电。
优选地方案，所述初级线圈与所述次级线圈之间的最小距离不大于15cm。保证充电安全且高效。
本发明的有益效果：本发明提供的这种智能集装箱轨道平车控制系统及轨道平车，该自动驾驶的轨道平车在轨道上进行搬运作业，一方面通过定位模块和远程监控模块实时对轨道平车进行监控，另一方面轨道平车在作业过程中随时利用轨道中的线圈通过电磁感应方式对轨道平车进行充电，该轨道平车不停歇连续运行，随时随地在作业过程中进行充电，且零排放环保节能。
实施例二：
本实施例提供了一种智能集装箱轨道平车，包括车体，所述车体两端均设有牵引端头，还包括实施例1的控制系统，所述控制系统控制所述牵引端头沿着轨道运动。如图2至3所示，在轨道侧，交流电通过整流滤波电路后再经过逆变器，最后通过控制开关给初级线圈供电，控制开关通过控制单元进行控制；在平车侧，次级线圈与初级线圈之间通过电磁感应产生电流后经过整流滤波给车载蓄电池供电，车载蓄电池与整流滤波均通过控制单元来控制，控制单元属于控制模块。
优选地，所述轨道平车前后端均设有激光测距传感器和/或超声波测距传感器。传感器起到辅助定位和导航的作用。
优选地方案，所述轨道平车的所述牵引头上设有挂钩，相邻两个所述轨道平车之间通过所述挂钩连接。通过挂钩可以将多个轨道平车连接起来实现连挂的功能，此外，还可以网络控制调节几辆相邻的轨道平车自动编组同步运行。
本发明的有益效果：本发明提供的这种智能集装箱轨道平车控制系统及轨道平车，该自动驾驶的轨道平车在轨道上进行搬运作业，一方面通过定位模块和远程监控模块实时对轨道平车进行监控，另一方面轨道平车在作业过程中随时利用轨道中的线圈通过电磁感应方式对轨道平车进行充电，该轨道平车不停歇连续运行，随时随地在作业过程中进行充电，且零排放环保节能。
以上例举仅仅是对本发明的举例说明，并不构成对本发明的保护范围的限制，凡是与本发明相同或相似的设计均属于本发明的保护范围之内。

Claims (7)

1.一种智能集装箱轨道平车控制系统，其特征在于：包括自动驾驶模块、定位模块、无线通信模块、控制模块、远程监控模块及非接触式充电电源模块；
所述定位模块用于实时定位轨道平车的位置；
所述远程监控模块用于实时监控所述轨道平车的位置及运行状态；
所述无线通信模块用于将所述轨道平车与所述远程监控模块之间建立通信联结；所述自动驾驶模块用于控制所述轨道平车的行驶方向及速度；
所述非接触式充电电源模块包括蓄电池及充电桩组，所述充电桩组上设有初级线圈组，所述蓄电池设有与所述初级线圈组对应的次级线圈，所述非接触式充电电源模块用于给所述定位模块、无线通信模块、控制模块及所述自动驾驶模块供电；所述初级线圈组包括多段初级线圈，多段所述初级线圈间隔铺设在轨道上，所述车体的下端设有与所述初级线圈对应的次级线圈，所述初级线圈与所述次级线圈之间的最小距离不大于15cm；
所述轨道平车的所述牵引头上设有挂钩，相邻两个所述轨道平车之间通过所述挂钩连接；
所述控制模块用于控制所述自动驾驶模块及所述非接触式充电电源模块的运行。
2.根据权利要求1所述的智能集装箱轨道平车控制系统，其特征在于：还设有报警模块，所述报警模块用来监测所述自动驾驶模块、所述定位模块、所述无线通信模块、所述控制模块、所述远程监控模块及所述非接触式充电电源模块的工作状态。
3.根据权利要求1所述的智能集装箱轨道平车控制系统，其特征在于：当所述蓄电池电量低于预设阈值时，所述控制模块控制所述轨道平车运行至最近的所述充电桩处进行充电。
4.根据权利要求1所述的智能集装箱轨道平车控制系统，其特征在于：所述定位模块包括GPS/GPRS定位、惯性导航、激光辅助精确定位及电子地图。
5.一种智能集装箱轨道平车，其特征在于：包括车体，所述车体两端均设有牵引端头，还包括如权利要求1至4所述的控制系统，所述控制系统控制所述牵引端头沿着轨道运动。
6.根据权利要求5所述的智能集装箱轨道平车，其特征在于：所述轨道平车前后端均设有激光测距传感器和/或超声波测距传感器。
7.根据权利要求5所述的智能集装箱轨道平车，其特征在于：所述轨道上设有整流滤波及谐振逆变器，外部电源通过依次电连接所述整流滤波、所述谐振逆变器及所述初级线圈组。
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