CN111256570A - Gray bus positioning system and method - Google Patents
Gray bus positioning system and method Download PDFInfo
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- CN111256570A CN111256570A CN202010043833.1A CN202010043833A CN111256570A CN 111256570 A CN111256570 A CN 111256570A CN 202010043833 A CN202010043833 A CN 202010043833A CN 111256570 A CN111256570 A CN 111256570A
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- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
- G01B7/003—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring position, not involving coordinate determination
Abstract
The invention discloses a gray bus positioning system and a gray bus positioning method, wherein the system comprises a first section of gray bus, a lead, a second section of gray bus, an encoder, a code reader, a first controller and a second controller, one end of the lead is connected with the tail end of the first section of gray bus, the other end of the lead is connected with the head end of the second section of gray bus, the encoder is used for converting the position of an unmanned locomotive into an encoder address, the code reader is used for reading the address of the first section of gray bus or the address of the second section of gray bus, and the second controller is used for receiving the encoder address sent by the first controller and the address of the gray bus read by the code reader so as to position the unmanned locomotive. The invention adopts the directly read gray bus addresses at the two ends of the crossing, adopts the encoder address at the crossing position, and can accurately position the unmanned locomotive at the crossing position after converting the encoder address into the gray bus address, thereby providing data support for the control of the unmanned locomotive.
Description
Technical Field
The invention relates to the technical field of unmanned locomotive positioning, in particular to a Gray bus positioning system and a method.
Background
With the development of science and technology, the technology of a rail unmanned locomotive is adopted in transportation of a plurality of industries at present, and the unmanned locomotive has the advantages of automatic control and automatic positioning, so that the labor can be saved, and the working efficiency is accelerated; generally, an unmanned locomotive can be positioned through a gray bus, but the rail is often intersected with a road, and at the moment, if the gray bus is adopted at a road junction, the gray bus can be crushed when other vehicles pass through the road junction, so that the positioning of the unmanned locomotive at the road junction is difficult; if the encoder is adopted for data acquisition in the whole process, the subsequent positioning calculation mode is complex, and the data is not accurate enough.
Thus, the prior art has yet to be improved and enhanced.
Disclosure of Invention
In view of the defects of the prior art, the invention aims to provide a gray bus positioning system and method, which can accurately position an unmanned locomotive at a crossing position, and further provide data support for the control of the unmanned locomotive.
In order to achieve the purpose, the invention adopts the following technical scheme:
on one hand, the invention discloses a gray bus positioning system which is arranged at the crossing position of an unmanned aerial vehicle track and comprises:
the first section of gray bus is arranged in the middle of the unmanned aerial vehicle track and is positioned at one side of a crossing of the unmanned aerial vehicle track;
the lead is arranged at the crossing position of the unmanned aerial vehicle track, and one end of the lead is connected with the tail end of the first section of Gray bus;
the second section of gray bus is arranged in the middle of the unmanned aerial vehicle track and positioned on the other side of the crossing of the unmanned aerial vehicle track, and the other end of the lead is connected with the head end of the second section of gray bus;
an encoder for converting a position of the unmanned locomotive to an encoder address;
the code reader is used for reading the address of the first section of Gray bus or the address of the second section of Gray bus;
a first controller for receiving an encoder address and sending the encoder address to a second controller; and
and the second controller is used for receiving the encoder address sent by the first controller and the address of the first section of gray bus or the address of the second section of gray bus read by the code reader so as to position the unmanned locomotive.
Preferably, in the gray bus positioning system, the encoder is a rotary encoder.
Preferably, in the gray bus positioning system, the encoder, the code reader and the second controller are all arranged on the unmanned locomotive.
Preferably, in the gray bus positioning system, the length of the first gray bus is 18 meters, the length of the lead is 15 meters, and the length of the second gray bus is 30 meters.
Preferably, in the gray bus positioning system, the first controller and the second controller are connected by ethernet communication.
On the other hand, the invention also discloses a gray bus positioning method, which is suitable for the gray bus positioning system, and comprises the following steps:
s1, judging whether the unmanned locomotive is located at the position of the first section of Gray bus, and if so, receiving the address of the first section of Gray bus to obtain the position of the unmanned locomotive; obtaining gray bus addresses and encoder addresses of at least two position points, wherein the position points are positions on a first section of gray bus meeting preset conditions;
s2, calculating the conversion slope of the gray bus address and the encoder address according to the gray bus address and the encoder address of each position point;
s3, judging whether the unmanned locomotive is located at a lead position, if so, receiving a current encoder address acquired by an encoder, and calculating a current gray bus address corresponding to the current encoder address according to the current encoder address and the conversion slope to obtain the position of the unmanned locomotive;
and S4, judging whether the unmanned locomotive is located at the position of the second section of Gray bus, and if so, receiving the address of the second section of Gray bus to obtain the position of the unmanned locomotive.
Preferably, in the gray bus positioning method, in step S1, the position that satisfies the preset condition is a position that is spaced from a head end of the first gray bus by a preset distance.
Preferably, in the gray bus positioning method, in step S2, a calculation formula of a conversion slope between the gray bus address and the encoder address is as follows:
K＝(y2-y1)/(x2-x1)，
and K is the conversion slope of the gray bus address and the encoder address, y1 is the encoder address of the first position point, y2 is the encoder address of the second position point, x1 is the gray bus address of the first position point, and x2 is the gray bus address of the second position point.
Preferably, in the gray bus positioning method, in step S3, a calculation formula of a current gray bus address corresponding to the current encoder address is as follows:
x3＝(y3-y2)/K+x2，
where x3 is the current gray bus address and y3 is the current encoder address.
Preferably, in the gray bus positioning method, the first position point is a position on the first gray bus section that is 5 meters away from the head end of the first gray bus section, and the second position point is a position on the first gray bus section that is 10 meters away from the head end of the first gray bus section.
Compared with the prior art, the gray bus positioning system and method provided by the invention comprise a first gray bus, a lead, a second gray bus, an encoder, a code reader, a first controller and a second controller, wherein one end of the lead is connected with the tail end of the first gray bus, the other end of the lead is connected with the head end of the second gray bus, the encoder is used for converting the position of the unmanned locomotive into an encoder address, the code reader is used for reading the address of the first gray bus or the address of the second gray bus, and the second controller is used for receiving the encoder address sent by the first controller and the address of the first gray bus or the address of the second gray bus read by the code reader so as to position the unmanned locomotive. The invention adopts the directly read gray bus addresses at the two ends of the crossing, adopts the encoder address at the crossing position, and can accurately position the unmanned locomotive at the crossing position after converting the encoder address into the gray bus address, thereby providing data support for the control of the unmanned locomotive.
Drawings
Fig. 1 is a schematic structural diagram of a preferred embodiment of a gray bus positioning system provided in the present invention;
fig. 2 is a flowchart of a gray bus positioning method according to a preferred embodiment of the present invention.
Detailed Description
The invention provides a gray bus positioning system and a gray bus positioning method, and in order to make the purpose, technical scheme and effect of the invention clearer and clearer, the invention is further described in detail below by referring to the attached drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Referring to fig. 1, a gray bus positioning system provided in an embodiment of the present invention is disposed at a crossing of an unmanned aerial vehicle track, and includes:
the first section of gray bus bar 1 is arranged in the middle of the unmanned aerial vehicle track and is positioned at one side of a crossing of the unmanned aerial vehicle track;
the lead wire 2 is arranged at the crossing position of the unmanned aerial vehicle track, and one end of the lead wire 2 is connected with the tail end of the first section of gray bus 1;
the second section of gray bus 3 is arranged in the middle of the unmanned aerial vehicle track and is positioned at the other side of the crossing of the unmanned aerial vehicle track, and the other end of the lead 2 is connected with the head end of the second section of gray bus 3;
an encoder 4 for converting the position of the unmanned locomotive 5 into an encoder address;
the code reader 4 is used for reading the address of the first section of gray bus 1 or the address of the second section of gray bus 3;
a first controller 7, the first controller 7 being configured to receive an encoder address and send the encoder address to a second controller 8; and
and the second controller 8 is used for receiving the encoder address sent by the first controller 7 and the address of the first section of gray bus 1 or the address of the second section of gray bus 3 read by the code reader so as to locate the unmanned locomotive.
Specifically, when the unmanned locomotive 5 runs to the position of the first section of gray bus 1, in the running process of the unmanned locomotive 5, the code reader 6 reads the address of the first section of gray bus 1, the read gray bus address can be used as the position parameter of the unmanned locomotive, meanwhile, the encoder 4 reads the encoder address in the running process of the unmanned locomotive 5, and then the conversion of the encoder address and the gray bus address can be carried out through the gray bus address and the encoder address at the same position. When the unmanned locomotive 5 runs to the crossing position, no gray bus address is output at the moment, the encoder address read by the encoder is used for positioning the unmanned locomotive 5 at the moment, specifically, the encoder address is converted into the gray bus address through the previous conversion relation, and the gray bus address obtained after the conversion can be used as the position parameter of the unmanned locomotive 5. When the unmanned locomotive 5 runs to the position of the second section of the gray bus 3, the gray bus address read by the code reader 6 is continuously adopted as the position parameter of the unmanned locomotive, and the positioning precision is ensured.
In a preferred embodiment, the encoder 4 is a rotary encoder, which can acquire continuous numbers and perform data acquisition more accurately.
In a further embodiment, the encoder 4, the code reader 6 and the second controller 7 are all arranged on the unmanned locomotive 5, so that the problem of installation of the encoder 4 can be solved, structural improvement of the unmanned locomotive 5 is avoided, the code reader 6 can directly read the address of the gray bus, and the second controller 7 adopts a PLC controller of S7-300, so that programming can be facilitated, and the encoder address sent by the encoder 4 can be quickly received and output.
In a preferred embodiment, the first controller 7 and the second controller 8 are connected by ethernet communication, so that an operator can remotely receive collected data and remotely control the operation of the unmanned locomotive.
In a preferred embodiment, the length of the first section of gray bus 1 is 18 meters, the length of the lead 2 is 15 meters, and the length of the second section of gray bus 3 is 30 meters, specifically, when the unmanned locomotive 5 runs to the position of the first section of gray bus 1, gray bus addresses and encoder addresses are simultaneously acquired at the positions of 0-10 meters, the gray bus addresses of 0-10 meters are absolute addresses, continuous numbers are acquired by a rotary encoder, data of the rotary encoder at the position of 0 meter of the gray bus is clear 0 or converted into 0, when the unmanned locomotive 5 runs, the conversion relation between the encoder addresses and the gray bus addresses is calculated, meanwhile, the gray bus addresses are used as positioning parameters of the unmanned locomotive, and the addresses of the rotary encoder are used as redundancy backup of the gray bus addresses; when the unmanned locomotive 5 approaches a crossing, such as a position of about 17 meters, an encoder 4 is adopted for carrying out address acquisition, the encoder address is converted into a gray bus address, and the converted gray bus address can be used as a positioning parameter of the unmanned locomotive; when the unmanned locomotive moves to the position of the second section of gray bus, the gray bus address read by the code reader 6 is directly used as the positioning parameter of the unmanned locomotive; the invention adopts the encoder to collect the address at the crossing position, and the other positions adopt the gray bus address as the main and the rotary encoder address as the auxiliary way to collect the address, when the difference of 2 addresses is large (except 17-33 meters at the crossing), one device can be out of order, alarm is given in time, and the absolute reliability of the address is ensured.
Based on the gray bus positioning system, the present invention further provides a gray bus positioning method, referring to fig. 2, where the gray bus positioning method is applicable to the gray bus positioning system described in the above embodiment, and includes the following steps:
s1, judging whether the unmanned locomotive is located at the position of the first section of Gray bus, and if so, receiving the address of the first section of Gray bus to obtain the position of the unmanned locomotive; obtaining gray bus addresses and encoder addresses of at least two position points, wherein the position points are positions on a first section of gray bus meeting preset conditions;
s2, calculating the conversion slope of the gray bus address and the encoder address according to the gray bus address and the encoder address of each position point;
s3, judging whether the unmanned locomotive is located at a lead position, if so, receiving a current encoder address acquired by an encoder, and calculating a current gray bus address corresponding to the current encoder address according to the current encoder address and the conversion slope to obtain the position of the unmanned locomotive;
and S4, judging whether the unmanned locomotive is located at the position of the second section of Gray bus, and if so, receiving the address of the second section of Gray bus to obtain the position of the unmanned locomotive.
Specifically, whether the unmanned locomotive is located at the first section of gray bus or not is judged by judging whether the code reader has gray bus address output or not, if yes, the unmanned locomotive is located at the gray bus position, when the unmanned locomotive is located at the first section of gray bus, the address of the first section of gray bus is received, and the address can be used as a position parameter of the unmanned locomotive; in addition, when the unmanned locomotive runs, the conversion relation between the gray bus address and the encoder address is calculated by collecting two addresses (the gray bus address and the encoder address) of a plurality of position points, so that the encoder address can be directly converted into the gray bus address to be used as a position parameter of the unmanned locomotive, and the reliability of the address is ensured; after the conversion relation is obtained, the position of the unmanned locomotive can be calculated at the position of the lead through the conversion relation and the real-time encoder address of the encoder, specifically, whether the unmanned locomotive is positioned at the position of the lead is judged by judging whether the code reader has gray bus address output, and if not, the unmanned locomotive is positioned at the position of the lead; when the code reader outputs the gray bus address again, the unmanned locomotive is judged to be located at the position of the second section of gray bus, and the gray bus address read by the code reader can be used as the position parameter of the unmanned locomotive.
Preferably, the position meeting the preset condition is a position spaced from the head end of the first section of gray bus by a preset distance, in this embodiment, the number of the position points is 2, and the position points are respectively a first position point and a second position point, the first position point is a position on the first section of gray bus 5 meters away from the head end of the first section of gray bus, and the second position point is a position on the first section of gray bus 10 meters away from the head end of the first section of gray bus.
In step S2, the calculation formula of the conversion slope between the gray bus address and the encoder address is:
K＝(y2-y1)/(x2-x1)，
and K is the conversion slope of the gray bus address and the encoder address, y1 is the encoder address of the first position point, y2 is the encoder address of the second position point, x1 is the gray bus address of the first position point, and x2 is the gray bus address of the second position point.
Specifically, the conversion slope of the gray bus address and the encoder address is the gray bus address difference of the two position points divided by the encoder address difference of the two position points, and the slope can be used for subsequent conversion, so that after the encoder address is converted into the gray bus address, the gray bus address obtained through conversion is used as the position parameter of the unmanned locomotive; of course, in other embodiments, a plurality of position points may be selected to ensure the accuracy of the slope calculation, which is not limited in the present invention.
Further, in step S3, the calculation formula of the current gray bus address corresponding to the current encoder address is as follows:
x3＝(y3-y2)/K+x2，
where x3 is the current gray bus address and y3 is the current encoder address.
Specifically, after the slope is calculated, a formula K of (y3-y2)/(x-x2) can be obtained, a formula conversion can be performed to obtain a formula for calculating the current gray bus address corresponding to the current encoder address, and at the crossing position, the gray bus address can be obtained only by substituting the acquired encoder address into the formula.
In summary, in the gray bus positioning system and method provided by the present invention, the system includes a first gray bus, a lead, a second gray bus, an encoder, a code reader, a first controller, and a second controller, one end of the lead is connected to a tail end of the first gray bus, the other end of the lead is connected to a head end of the second gray bus, the encoder is configured to convert a position of the unmanned vehicle into an encoder address, the code reader is configured to read an address of the first gray bus or an address of the second gray bus, and the second controller is configured to receive the encoder address sent by the first controller and the address of the first gray bus or the address of the second gray bus read by the code reader, so as to position the unmanned vehicle. The invention adopts the directly read gray bus addresses at the two ends of the crossing, adopts the encoder address at the crossing position, and can accurately position the unmanned locomotive at the crossing position after converting the encoder address into the gray bus address, thereby providing data support for the control of the unmanned locomotive.
It should be understood that equivalents and modifications of the technical solution and inventive concept thereof may occur to those skilled in the art, and all such modifications and alterations should fall within the scope of the appended claims.
Claims (10)
1. The utility model provides a gray bus positioning system, sets up at the orbital road junction position of unmanned aerial vehicle car, a serial communication port, includes:
the first section of gray bus is arranged in the middle of the unmanned aerial vehicle track and is positioned at one side of a crossing of the unmanned aerial vehicle track;
the lead is arranged at the crossing position of the unmanned aerial vehicle track, and one end of the lead is connected with the tail end of the first section of Gray bus;
the second section of gray bus is arranged in the middle of the unmanned aerial vehicle track and positioned on the other side of the crossing of the unmanned aerial vehicle track, and the other end of the lead is connected with the head end of the second section of gray bus;
an encoder for converting a position of the unmanned locomotive to an encoder address;
the code reader is used for reading the address of the first section of Gray bus or the address of the second section of Gray bus;
a first controller for receiving an encoder address and sending the encoder address to a second controller; and
and the second controller is used for receiving the encoder address sent by the first controller and the address of the first section of gray bus or the address of the second section of gray bus read by the code reader so as to position the unmanned locomotive.
2. The gray bus positioning system of claim 1, wherein the encoder is a rotary encoder.
3. The gray bus positioning system of claim 1, wherein the encoder, code reader, and second controller are all disposed on the unmanned locomotive.
4. The gray bus positioning system of claim 1, wherein the first section of gray bus has a length of 18 meters, the lead has a length of 15 meters, and the second section of gray bus has a length of 30 meters.
5. The gray bus positioning system of claim 1, wherein the first controller and the second controller are communicatively coupled using ethernet.
6. A gray bus positioning method, which is applied to the gray bus positioning system according to any one of claims 1-5, and comprises:
s1, judging whether the unmanned locomotive is located at the position of the first section of Gray bus, and if so, receiving the address of the first section of Gray bus to obtain the position of the unmanned locomotive; obtaining gray bus addresses and encoder addresses of at least two position points, wherein the position points are positions on a first section of gray bus meeting preset conditions;
s2, calculating the conversion slope of the gray bus address and the encoder address according to the gray bus address and the encoder address of each position point;
s3, judging whether the unmanned locomotive is located at a lead position, if so, receiving a current encoder address acquired by an encoder, and calculating a current gray bus address corresponding to the current encoder address according to the current encoder address and the conversion slope to obtain the position of the unmanned locomotive;
and S4, judging whether the unmanned locomotive is located at the position of the second section of Gray bus, and if so, receiving the address of the second section of Gray bus to obtain the position of the unmanned locomotive.
7. The gray bus positioning method according to claim 6, wherein in step S1, the position satisfying the preset condition is a position spaced from a head end of the first gray bus by a preset distance.
8. The gray bus positioning method according to claim 6, wherein in step S2, the calculation formula of the conversion slope of the gray bus address and the encoder address is as follows:
K＝(y2-y1)/(x2-x1)，
and K is the conversion slope of the gray bus address and the encoder address, y1 is the encoder address of the first position point, y2 is the encoder address of the second position point, x1 is the gray bus address of the first position point, and x2 is the gray bus address of the second position point.
9. The gray bus positioning method according to claim 8, wherein in step S3, the calculation formula of the current gray bus address corresponding to the current encoder address is:
x3＝(y3-y2)/K+x2，
where x3 is the current gray bus address and y3 is the current encoder address.
10. The gray bus positioning method according to claim 9, wherein the first position point is a position on the first gray bus that is 5 meters away from the head end of the first gray bus, and the second position point is a position on the first gray bus that is 10 meters away from the head end of the first gray bus.
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| CN111679310A (en) * | 2020-06-24 | 2020-09-18 | 重庆赛迪奇智人工智能科技有限公司 | Locomotive high-precision fusion positioning scheme applied to iron and steel enterprises |
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