CN110888440A - Rail vehicle door alignment system and method combining GNSS satellite positioning and shielding plate - Google Patents
Rail vehicle door alignment system and method combining GNSS satellite positioning and shielding plate Download PDFInfo
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- CN110888440A CN110888440A CN201911189502.2A CN201911189502A CN110888440A CN 110888440 A CN110888440 A CN 110888440A CN 201911189502 A CN201911189502 A CN 201911189502A CN 110888440 A CN110888440 A CN 110888440A
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- 238000000034 method Methods 0.000 title claims abstract description 27
- 238000004519 manufacturing process Methods 0.000 abstract description 4
- 239000000571 coke Substances 0.000 description 7
- 239000003245 coal Substances 0.000 description 6
- 238000010586 diagram Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 238000004939 coking Methods 0.000 description 2
- 101100156949 Arabidopsis thaliana XRN4 gene Proteins 0.000 description 1
- 101100215777 Schizosaccharomyces pombe (strain 972 / ATCC 24843) ain1 gene Proteins 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
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- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
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Abstract
The invention provides a rail vehicle door aligning system and a method combining GNSS satellite positioning and a shielding plate, the invention combines GNSS satellite positioning and a laser shielding plate, realizes centimeter-level positioning of a vehicle by utilizing the GNSS satellite positioning, realizes millimeter-level positioning of the vehicle by utilizing the matching operation of a laser sensor and the shielding plate, controls the lifting of a vehicle gear by a gear controller, thereby realizing the accurate control of the vehicle in an automatic mode, the accuracy reaches 2mm, and assists a driver to accurately control the position of the vehicle. The speed and the efficiency of alignment are improved, and the production efficiency is improved.
Description
Technical Field
The invention relates to the technical field of low-speed rail vehicles, in particular to a rail vehicle door aligning system and a rail vehicle door aligning method combining GNSS satellite positioning and a shielding plate.
Background
For the motion control of the existing vehicles such as coal charging cars and the like, manual operation is mostly used as a main operation, and a driver switches forward and backward gears and the like through a control gear handle to complete the motion control of a cart. However, the manual control is inaccurate in position control and low in repeated alignment efficiency, the alignment speed and the alignment accuracy of each driver are different, and due to the fact that the operation level and the operation habit of each driver are different, two drivers operate the cart to align a certain furnace number, and the alignment accuracy is greatly different.
Disclosure of Invention
The invention aims to provide a rail vehicle door alignment system and a rail vehicle door alignment method combining GNSS satellite positioning and a shielding plate, aiming at solving the problem of low alignment precision of large vehicles such as coal charging cars and the like in the prior art, improving the alignment speed and efficiency and improving the production efficiency.
In order to achieve the technical purpose, the invention provides a rail vehicle door alignment system combining GNSS satellite positioning and a shielding plate, which comprises:
the vehicle is provided with a positioning module, a laser sensor, a gear relay and a card reader;
a baffle plate is arranged on the wall on the advancing side of the vehicle, and the baffle plate is surrounded by the front side and the rear side of the vehicle in the moving process of the vehicle;
a radio frequency card is arranged at each furnace number or position, and the furnace number or position is read through the card reader;
the laser sensors are distributed on the left side and the right side of the vehicle, and the front side and the rear side of the vehicle are respectively provided with a transmitting head and a receiving head;
the positioning module performs centimeter-level positioning on the vehicle position through GNSS differential positioning;
the gear of gear relay is decided by the degree that laser sensor is sheltered from by the shielding plate, carries out millimeter level location.
Preferably, the step of the step relay is determined by the shielding degree of the shielding plate of the laser sensor, specifically:
when any side of the laser sensors on the left side and the right side is shielded by the shielding plate, the gear relay is shifted down;
when the two sides of the laser sensors on the left side and the right side are both shielded by the baffle plates, the gear relay is a stop gear.
Preferably, the system further comprises:
and arranging a laser ranging radar on the vehicles for calculating the distance and the relative speed between the vehicles in real time, and performing forced braking when the distance and the relative speed are within a dangerous value.
The invention also provides a method for realizing the door alignment of the rail vehicle by using the door alignment system, which comprises the following steps:
performing centimeter-level positioning on the vehicle position through GNSS differential positioning, controlling a gear relay to move to a target position or a furnace number at a high gear;
the gear relay gear is determined by the shielding degree of the laser sensor, millimeter-level positioning is carried out, when one side of the laser sensor is shielded by the shielding plate, the laser sensor advances at a low gear, and when the laser sensor reads a target furnace number and both sides of the target furnace number are shielded by the shielding plate, the laser sensor is braked to stop advancing.
Preferably, the method further comprises:
and calculating the distance and the relative speed between the vehicles in real time through the laser ranging radar, and performing forced braking when the distance and the relative speed are within a dangerous value.
Preferably, the gear relay controls the opening and closing state of the multi-way relay to complete the control operation of the vehicle motion.
The effect provided in the summary of the invention is only the effect of the embodiment, not all the effects of the invention, and one of the above technical solutions has the following advantages or beneficial effects:
compared with the prior art, the invention combines the GNSS satellite positioning and the laser shielding plate, utilizes the GNSS satellite positioning to realize centimeter-level positioning of the vehicle, utilizes the matching operation of the laser sensor and the shielding plate to realize millimeter-level positioning of the vehicle, controls the lifting of the vehicle gear through the gear controller, thereby realizing the accurate control of the vehicle in an automatic mode, the precision reaches 2mm, assisting a driver to carry out accurate position control on the vehicle, the system is applied to the accurate motion and control of the large cars such as a coal charging car and a coke pusher of a coking plant at present, assists a large car driver to accurately control the motion of the car, can control the car to move to a specified accurate position in an automatic mode, completes the operation of accurately aligning the coal charging car and the coke pusher to a furnace mouth, avoids different errors caused by repeated adjustment during manual operation, improves the aligning speed and efficiency, and improves the production efficiency.
Drawings
FIG. 1 is a schematic diagram of a state where a laser sensor on one side is shielded in a moving process of a vehicle according to an embodiment of the present invention;
fig. 2 is a schematic state diagram of a vehicle in which laser sensors on both sides are blocked in the moving process according to an embodiment of the present invention;
fig. 3 is a schematic diagram of a system wiring circuit structure provided in the embodiment of the present invention.
Detailed Description
In order to clearly explain the technical features of the present invention, the following detailed description of the present invention is provided with reference to the accompanying drawings. The following disclosure provides many different embodiments, or examples, for implementing different features of the invention. To simplify the disclosure of the present invention, the components and arrangements of specific examples are described below. Furthermore, the present invention may repeat reference numerals and/or letters in the various examples. This repetition is for the purpose of simplicity and clarity and does not in itself dictate a relationship between the various embodiments and/or configurations discussed. It should be noted that the components illustrated in the figures are not necessarily drawn to scale. Descriptions of well-known components and processing techniques and procedures are omitted so as to not unnecessarily limit the invention.
The following describes in detail a railcar door alignment system and a railcar door alignment method with GNSS satellite positioning and shielding according to embodiments of the present invention.
The invention discloses a rail vehicle door aligning system combining GNSS satellite positioning and a shielding plate, which comprises:
the vehicle is provided with a positioning module, a laser sensor, a gear relay and a card reader;
a baffle plate is arranged on the wall on the advancing side of the vehicle, and the baffle plate is surrounded by the front side and the rear side of the vehicle in the moving process of the vehicle;
a radio frequency card is arranged at each furnace number or position, and the furnace number or position is read through the card reader;
the laser sensors are distributed on the left side and the right side of the vehicle, and the front side and the rear side of the vehicle are respectively provided with a transmitting head and a receiving head;
the positioning module performs centimeter-level positioning on the vehicle position through GNSS differential positioning;
the gear of gear relay is decided by the degree that laser sensor is sheltered from by the shielding plate, carries out millimeter level location.
By utilizing the GNSS differential positioning principle, centimeter-level positioning of a cart is completed by a reference station and a mobile station group, and the GNSS mobile station transmits the real-time position of the cart to the system at the frequency of 10 Hz. The macro positioning of the cart is realized through GNSS satellite positioning, and the moving distance is more than 1 cm.
As shown in fig. 1 and 2, millimeter-scale positioning of the cart is completed by using the shielding plate and two laser sensors in cooperation. Set up the shielding plate on fixed wall to set up laser sensor respectively in the left and right sides of vehicle, including transmitting head and receiving head, transmitting head and receiving head are located the front and back both sides of vehicle respectively, and transmitting head transmission laser to receiving head, receiving head send received laser signal to in the infrared correlation collector. In the process of advancing of the vehicle, the right sensor is firstly shielded by the shielding plate, the red light is lightened, and the vehicle speed is reduced to the minimum; when the sensor on the left side of the vehicle is shielded by the shielding plate, the sensors on the left side and the right side are shielded at the moment, the red light is turned off, the green light is turned on, and the vehicle is braked and stopped. The furnace number or the position is calibrated through the embedded radio frequency card, the positioning operation is completed in an auxiliary mode, and the card reader on the vehicle transmits the information of the embedded card to the system at the frequency of 20 Hz.
The automatic control of the vehicle power is completed by utilizing the serial port relay, the gear control handle of the vehicle is reformed, manual and automatic switching is performed through the multi-way switch, and when the automatic mode is switched, the control operation of the vehicle motion is completed by the opening and closing state of the multi-way relay controlled by the system. In the embodiment of the invention, seven gears are arranged, namely a forward third gear, a backward third gear and a stop first gear, and the gears are realized through the opening and closing state of the relay.
Meanwhile, a laser ranging radar is arranged on the vehicle to achieve the anti-collision function of the cart. In the automatic mode, the distance and the relative speed between the cart and the coke pusher are measured by using the laser ranging radar, and when the position is too close or the relative speed is too high, the cart is forcedly braked to prevent collision.
The circuit wiring of the system is shown in fig. 3, wherein the AIN0 and AIN1 signal ends of the infrared correlation collector are respectively connected with the BLUE signal ends of 4 receiving heads, the AIN2 signal end is connected with the coke pushing switch, the GND end is connected with the BLACK signal ends of the transmitting head and the receiving head, and the + VIN end is connected with the RED signal ends of the transmitting head and the receiving head.
The + VIN end of the card reader is connected with the + VIN end of the infrared correlation collector, and the GND end of the card reader is connected with the GND end of the infrared correlation collector; the RED signal end of the laser range radar is connected with the + VIN end of the infrared correlation collector, and the BLACK signal end is connected with the GND end of the infrared correlation collector; the + VIN end of the 485 relay is connected with the + VIN end of the infrared correlation collector, the GND end of the 485 relay is connected with the GND end of the infrared correlation collector, the 485 relay is further connected with a manual/automatic change-over switch, when the switch is in an automatic gear, the 485 relay controls the original relay to output 1-7 opening and closing states, and when the switch is in a manual gear, the original gear relay is connected into a circuit.
The specific operation flow of the system according to the embodiment of the invention is as follows:
click on the target location, enter the furnace number, e.g., 20; obtaining the current position of the cart through a GNSS mobile station, and comparing the current position with the latitude and longitude of a target position to obtain a distance direction; clicking an automatic mode, determining a gear according to the target distance and direction, and outputting the gear to a gear relay; in the motion process, calculating the distance between the vehicle and the target in real time; when the distance target is N meters, decelerating and shifting until the distance target is decelerated to the lowest gear; when a target card number is read, the gear relay enters a jog mode; when the left laser sensor and the right laser sensor are shielded simultaneously, braking is carried out; and after confirming that the left laser sensor and the right laser sensor are shielded for three seconds continuously, prompting the completion of the operation.
In the operation process, the laser ranging radar calculates the distance and the relative speed between the vehicles in real time, if the distance and the relative speed are within a dangerous value, the vehicles are directly and forcibly braked, the automatic operation is finished, and the fact that the anti-collision function is started is prompted.
The embodiment of the invention combines the GNSS satellite positioning and the laser shielding plate, utilizes the GNSS satellite positioning to realize the centimeter-level positioning of the vehicle, utilizes the matching operation of the laser sensor and the shielding plate to realize the millimeter-level positioning of the vehicle, controls the lifting of the vehicle gear through the gear controller, thereby realizing the accurate control of the vehicle in an automatic mode, the precision reaches 2mm, assisting a driver to carry out accurate position control on the vehicle, the system is applied to the accurate motion and control of the large cars such as a coal charging car and a coke pusher of a coking plant at present, assists a large car driver to accurately control the motion of the car, can control the car to move to a specified accurate position in an automatic mode, completes the operation of accurately aligning the coal charging car and the coke pusher to a furnace mouth, avoids different errors caused by repeated adjustment during manual operation, improves the aligning speed and efficiency, and improves the production efficiency.
The embodiment of the invention also discloses a method for realizing the door alignment of the rail vehicle by utilizing the door alignment system, which comprises the following operations:
performing centimeter-level positioning on the vehicle position through GNSS differential positioning, controlling a gear relay to move to a target position or a furnace number at a high gear;
the gear relay gear is determined by the shielding degree of the laser sensor, millimeter-level positioning is carried out, when one side of the laser sensor is shielded by the shielding plate, the laser sensor advances at a low gear, and when the laser sensor reads a target furnace number and both sides of the target furnace number are shielded by the shielding plate, the laser sensor is braked to stop advancing.
By utilizing the GNSS differential positioning principle, centimeter-level positioning of a cart is completed by a reference station and a mobile station group, and the GNSS mobile station transmits the real-time position of the cart to the system at the frequency of 10 Hz. The macro positioning of the cart is realized through GNSS satellite positioning, and the moving distance is more than 1 cm.
The millimeter-level positioning of the cart is completed by using the shielding plate and the two laser sensors in a matching way. Set up the shielding plate on fixed wall to set up laser sensor respectively in the left and right sides of vehicle, including transmitting head and receiving head, transmitting head and receiving head are located the front and back both sides of vehicle respectively, and transmitting head transmission laser to receiving head, receiving head send received laser signal to in the infrared correlation collector. In the process of advancing of the vehicle, the right sensor is firstly shielded by the shielding plate, the red light is lightened, and the vehicle speed is reduced to the minimum; when the sensor on the left side of the vehicle is shielded by the shielding plate, the sensors on the left side and the right side are shielded at the moment, the red light is turned off, the green light is turned on, and the vehicle is braked and stopped. The furnace number or the position is calibrated through the embedded radio frequency card, the positioning operation is completed in an auxiliary mode, and the card reader on the vehicle transmits the information of the embedded card to the system at the frequency of 20 Hz.
The automatic control of the vehicle power is completed by utilizing the serial port relay, the gear control handle of the vehicle is reformed, manual and automatic switching is performed through the multi-way switch, and when the automatic mode is switched, the control operation of the vehicle motion is completed by the opening and closing state of the multi-way relay controlled by the system. In the embodiment of the invention, seven gears are arranged, namely a forward third gear, a backward third gear and a stop first gear, and the gears are realized through the opening and closing state of the relay.
Meanwhile, a laser ranging radar is arranged on the vehicle to achieve the anti-collision function of the cart. In the automatic mode, the distance and the relative speed between the cart and the coke pusher are measured by using the laser ranging radar, and when the position is too close or the relative speed is too high, the cart is forcedly braked to prevent collision.
The specific operation flow of the vehicle in the door aligning process is as follows:
click on the target location, enter the furnace number, e.g., 20; obtaining the current position of the cart through a GNSS mobile station, and comparing the current position with the latitude and longitude of a target position to obtain a distance direction; clicking an automatic mode, determining a gear according to the target distance and direction, and outputting the gear to a gear relay; in the motion process, calculating the distance between the vehicle and the target in real time; when the distance target is N meters, decelerating and shifting until the distance target is decelerated to the lowest gear; when a target card number is read, the gear relay enters a jog mode; when the left laser sensor and the right laser sensor are shielded simultaneously, braking is carried out; and after confirming that the left laser sensor and the right laser sensor are shielded for three seconds continuously, prompting the completion of the operation.
In the operation process, the laser ranging radar calculates the distance and the relative speed between the vehicles in real time, if the distance and the relative speed are within a dangerous value, the vehicles are directly and forcibly braked, the automatic operation is finished, and the fact that the anti-collision function is started is prompted.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (6)
1. A rail vehicle door alignment system incorporating a GNSS satellite positioning and shutter, the door alignment system comprising:
the vehicle is provided with a positioning module, a laser sensor, a gear relay and a card reader;
a baffle plate is arranged on the wall on the advancing side of the vehicle, and the baffle plate is surrounded by the front side and the rear side of the vehicle in the moving process of the vehicle;
a radio frequency card is arranged at each furnace number or position, and the furnace number or position is read through the card reader;
the laser sensors are distributed on the left side and the right side of the vehicle, and the front side and the rear side of the vehicle are respectively provided with a transmitting head and a receiving head;
the positioning module performs centimeter-level positioning on the vehicle position through GNSS differential positioning;
the gear of gear relay is decided by the degree that laser sensor is sheltered from by the shielding plate, carries out millimeter level location.
2. The railcar door system combining GNSS satellite positioning and shielding, according to claim 1, wherein the degree of shielding of the laser sensor by the shielding determines the gear of the gear relay specifically as follows:
when any side of the laser sensors on the left side and the right side is shielded by the shielding plate, the gear relay is shifted down;
when the two sides of the laser sensors on the left side and the right side are both shielded by the baffle plates, the gear relay is a stop gear.
3. A railcar alignment system incorporating GNSS satellite positioning and shielding, according to claim 1, further comprising:
and arranging a laser ranging radar on the vehicles for calculating the distance and the relative speed between the vehicles in real time, and performing forced braking when the distance and the relative speed are within a dangerous value.
4. A method of effecting railcar door-pairing utilizing the door-pairing system of claim 1, said method comprising the acts of:
performing centimeter-level positioning on the vehicle position through GNSS differential positioning, controlling a gear relay to move to a target position or a furnace number at a high gear;
the gear relay gear is determined by the shielding degree of the laser sensor, millimeter-level positioning is carried out, when one side of the laser sensor is shielded by the shielding plate, the laser sensor advances at a low gear, and when the laser sensor reads a target furnace number and both sides of the target furnace number are shielded by the shielding plate, the laser sensor is braked to stop advancing.
5. A method of aligning a railcar according to claim 4, further comprising:
and calculating the distance and the relative speed between the vehicles in real time through the laser ranging radar, and performing forced braking when the distance and the relative speed are within a dangerous value.
6. The method for aligning a rail vehicle according to claim 4, wherein the gear relay performs the operation of controlling the movement of the vehicle by controlling the opening and closing states of the multi-way relay.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911189502.2A CN110888440A (en) | 2019-11-28 | 2019-11-28 | Rail vehicle door alignment system and method combining GNSS satellite positioning and shielding plate |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911189502.2A CN110888440A (en) | 2019-11-28 | 2019-11-28 | Rail vehicle door alignment system and method combining GNSS satellite positioning and shielding plate |
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| CN110888440A true CN110888440A (en) | 2020-03-17 |
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| CN201911189502.2A Pending CN110888440A (en) | 2019-11-28 | 2019-11-28 | Rail vehicle door alignment system and method combining GNSS satellite positioning and shielding plate |
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| CN110411462A (en) * | 2019-07-22 | 2019-11-05 | 武汉大学 | A kind of GNSS/ inertia/lane line constraint/odometer multi-source fusion method |
-
2019
- 2019-11-28 CN CN201911189502.2A patent/CN110888440A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102226684A (en) * | 2011-03-21 | 2011-10-26 | 王辉 | Scene positioning method of vehicle positioning and distance measuring system for automatic coal sample acquisition system |
| US20120326924A1 (en) * | 2011-06-24 | 2012-12-27 | Thales Rail Signalling Solutions Inc. | Vehicle Localization System |
| CN203284078U (en) * | 2013-05-08 | 2013-11-13 | 北京国泰星云科技有限公司 | Container collision prevention automatic control system for RTG/RMG lifting appliance in container wharf |
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Application publication date: 20200317 |