CN111913419A - Safety monitoring system and method for molten iron transporting locomotive - Google Patents
Safety monitoring system and method for molten iron transporting locomotive Download PDFInfo
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- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 title claims abstract description 238
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- 229910052742 iron Inorganic materials 0.000 title claims abstract description 119
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0428—Safety, monitoring
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- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
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- 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
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/14—Receivers specially adapted for specific applications
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- G08B19/00—Alarms responsive to two or more different undesired or abnormal conditions, e.g. burglary and fire, abnormal temperature and abnormal rate of flow
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/26—Pc applications
- G05B2219/2612—Data acquisition interface
Abstract
The invention provides a safety monitoring system and a method for a molten iron transporting locomotive. The safety monitoring system of the molten iron transportation locomotive comprises a video monitoring module, a high-precision positioning module, a locomotive safety visual monitoring module and a monitoring center server, wherein the locomotive safety visual monitoring module comprises a vehicle-mounted visual terminal arranged in a cab of the molten iron transportation locomotive and a display terminal arranged in the monitoring center; the video monitoring module realizes that a attendant looks out without dead angles during normal running; the high-precision positioning module calculates the precise position, the running direction and the speed of the locomotive in real time through difference; the locomotive safety visual monitoring module integrates high-precision positioning data and video streaming media information based on a special railway map of a factory to realize visual monitoring of safe driving of the locomotive. The method effectively solves the key problems of confirming signal access and eliminating lookout blind areas in the molten iron transportation locomotive, greatly improves the driving safety of the locomotive, and achieves the aim of reducing operators and improving efficiency.
Description
Technical Field
The invention belongs to the field of production safety guarantee, and particularly relates to a safety monitoring system for a molten iron transporting locomotive.
Background
With the increasing demand for steel, the production of steel has also increased dramatically. The transportation of molten iron is a core link for the series connection of the whole steel production, and is the key point of the management of steel production enterprises. The molten iron transportation means that after the molten iron transportation vehicle loads empty molten iron ladles to the blast furnace and receives molten iron, the molten iron is transported to a cast iron workshop to carry out cast iron or transported to a steel-making workshop to carry out a toughening process. At present, molten iron transportation modes of domestic iron and steel united enterprises comprise three modes of railway transportation, road transportation and cross-vehicle transportation; the railway transportation mode has the advantages of heavy weight, low operation cost, strong adaptability to transported goods and the like, and is always the main mode for transferring molten iron in iron and steel enterprises.
In molten iron transportation of a steel mill, some locomotives need to run for several kilometers, frequently encounter turnouts and bends in the molten iron transportation process, have some obstacles or unexpected emergency situations, and can cause transportation accidents if the locomotives are not stopped in time. As the temperature of the molten iron transportation vehicle exceeds 1000 ℃, if any accident occurs in the transportation process of the molten iron, great safety risk exists. Under the general condition, in order to reduce the occurrence of risks, the mode that a plurality of operators cooperate together is generally adopted in the molten iron transportation of the steel enterprise at present, one main operator drives, one auxiliary operator drives and one lookout, the condition on a transportation line is observed at any time through the lookout operator, then the driver is reminded to carry out the processing modes of parking or lane changing and the like, the transportation accidents are avoided, although the mode can achieve a certain effect, the condition outside the automobile is observed artificially, careless effect always occurs, particularly, a turning part can generate a blind area, the condition outside the automobile is difficult to accurately observe, and the emergency in the transportation process cannot. And the man-made discernment is barrier on the track, and intensity of labour is very big, and the time is of a specified duration, also can appear potential safety hazards such as erroneous judgement, misoperation, in addition the enterprise faces the demand pressure of "subtract the crew and increase effects", need solve the accurate discernment of locomotive operation route signal and look over the blind area and eliminate two bottlenecks through technical innovation, improves the locomotive driving safety, realizes that a navigating mate controls the target of haulage motor car.
In addition, influenced by production environment, production conditions and market demands, different blast furnaces have different tapping demands, and different time periods of the same blast furnace are different, so that the molten iron transportation path needs to be adjusted frequently to meet the production requirements. The traditional molten iron transportation needs to be provided with communication equipment for each molten iron transportation vehicle, each scheduling room and each blast furnace production workshop, and the communication equipment is used for reporting the production condition and issuing scheduling tasks. In the existing method, a driver of a molten iron transport vehicle needs to report the position and state information of the vehicle to a dispatcher frequently, and the dispatcher judges the position of a locomotive according to the information reported by the driver of the molten iron transport vehicle and then carries out dispatching work. The manual information reporting mode is easy to cause the situations of false alarm and misjudgment when the information transmission efficiency is low and untimely, and the driver needs to judge the position of the locomotive in real time, so that the labor intensity of the driver is increased. In addition, the shielded molten iron transport vehicle cannot be accurately positioned in the traditional allocation system, and a monitoring blind area occurs to influence the monitoring of the dispatching personnel on molten iron transport.
Disclosure of Invention
The invention aims to provide a safety monitoring system for a molten iron transporting locomotive according to the defects of the prior art, which can reduce the production and operation cost and realize personnel reduction and efficiency improvement.
The technical scheme of the invention is as follows: the utility model provides a molten iron haulage motor safety monitoring system which characterized in that: the monitoring system comprises a video monitoring module, a high-precision positioning module, a locomotive safety visual monitoring module and a monitoring center server, wherein the locomotive safety visual monitoring module comprises a vehicle-mounted visual terminal arranged in a cab of the molten iron transportation locomotive and a display terminal arranged in the monitoring center;
the video monitoring module comprises a plurality of cameras which are arranged at different directions of the molten iron transport locomotive, and the plurality of cameras acquire real-time monitoring pictures at different directions of the molten iron transport locomotive and transmit the real-time monitoring pictures to a vehicle-mounted visual terminal in a cab in real time;
the high-precision positioning module comprises a satellite reference station, a vehicle-mounted positioning terminal and a network communication module, the network communication module transmits observation data of the satellite reference station and positioning data of the vehicle-mounted positioning terminal to a monitoring center server, the monitoring center server differentially calculates the precise position, the running direction and the speed of the molten iron transportation locomotive in real time, and the molten iron transportation locomotive carries out coordinate conversion and then transmits the molten iron transportation locomotive to a display terminal and a vehicle-mounted visual terminal of the monitoring center.
The further technical scheme of the invention is as follows: the monitoring center server receives observation data of a satellite reference station and positioning data of a vehicle-mounted positioning terminal, the accurate position, the running direction and the speed of the molten iron transportation locomotive are calculated in a real-time differential mode, spherical longitude and latitude coordinates under a WGS84 coordinate system are converted into plane coordinates with the unit of meter through Gaussian projection forward calculation, and then the plane coordinates are converted into coordinate system coordinates consistent with a plant area railway map through four-parameter coordinates.
The invention has the following excellent technical scheme: the high-definition intelligent video monitoring module comprises eight cameras installed on the molten iron transportation locomotive and is respectively positioned at the front rear part, the front and rear coupler positions, the left and right directions in the cab and the left and right sides of the locomotive.
The invention has the following excellent technical scheme: the vehicle-mounted visual terminal is a vehicle-mounted mobile APP visual terminal, integrates positioning data, station signal access and video information on a plant area railway map, displays the current position, the states and the distances of front and rear signal lamps of the molten iron transportation locomotive in real time, and simultaneously performs voice broadcasting and warning; the display terminal arranged in the monitoring center is a PC terminal, the PC terminal displays real-time positions of a station and a molten iron transporting locomotive on a plant area railway map, the state of the molten iron transporting locomotive is remotely and dynamically monitored, and meanwhile, the monitoring system has the functions of running record playback, system state monitoring and driving duration statistics.
The invention has the following excellent technical scheme: the locomotive safety visual monitoring module and the station yard signal microcomputer are interlocked to confirm the information access of the locomotive.
The invention provides a safety monitoring method for a molten iron transporting locomotive, which is used for monitoring by using the monitoring system and is characterized by comprising the following specific steps:
(1) the method comprises the steps that real-time monitoring pictures of different directions of the molten iron transport locomotive are obtained through a plurality of cameras arranged in the different directions of the molten iron transport locomotive and are transmitted to a vehicle-mounted visual terminal in a cab in real time, and a single driver observes the conditions of the molten iron transport locomotive in all directions through the vehicle-mounted visual terminal in the normal driving process;
(2) the satellite reference station acquires satellite observation information and transmits the satellite observation information to the monitoring center server through a wireless network;
(3) the locomotive vehicle-mounted terminal sends satellite positioning data and molten iron transportation locomotive state data to a monitoring center server in real time through a wireless communication network;
(4) the monitoring center server receives observation information of a satellite reference station and locomotive real-time positioning information of a locomotive vehicle-mounted terminal, calculates the accurate position, direction and speed of the locomotive, and converts the accurate coordinates of the molten iron transportation locomotive into coordinates of a coordinate system consistent with a factory railway map; the monitoring center transmits the converted accurate position, direction and speed information of the molten iron transporting locomotive to the vehicle-mounted visual terminal and the display terminal of the monitoring center, and a driver and monitoring center personnel monitor the real-time position and the locomotive state of the molten iron transporting locomotive through the vehicle-mounted visual terminal and the display terminal of the monitoring center.
The further technical scheme of the invention is as follows: the process of calculating the accurate position, direction and speed of the locomotive in the step (4) is as follows: satellite signal receiver T of satellite reference station1And vehicle terminal satellite signal receiver T2To satellite SjAnd SkIn epoch t1And t2Synchronously observing the time to obtain a satellite signal receiver T1At t1Time-of-day satellite SjAnd SkRespectively, of the carrier phase observations
Satellite signal receiver T1At t2Time-of-day satellite SjAnd SkRespectively, of the carrier phase observations
Satellite signal receiver T2At t1Time-of-day satellite SjAnd SkRespectively, of the carrier phase observations
Satellite signal receiver T2At t2Time-of-day satellite SjAnd SkRespectively, of the carrier phase observations
The carrier phase observation equation is as follows:
wherein the content of the first and second substances,
for receiver TiFor satellite S at time tjF is the signal frequency, c is the speed of light, all are measuredKnowing the quantity;
is the standing star distance, ti(t) is the receiver clock error, tj(t) is the clock error of the satellite,
for the unknown number of the whole week,
for the purpose of ionospheric delay correction,
delay correction for troposphere;
solving the whole week unknown number and various errors according to an observation equation to obtain the station-satellite distance; the accurate position of the satellite can be obtained by resolving a satellite ephemeris, the spherical surface where the receiver is located can be determined through the satellite-to-satellite distance between the receiver and one satellite, and when the receiver observes at least 4 satellites simultaneously, the unique coordinate point of the receiver can be determined through the intersection of the 4 spherical surfaces; the whole-week unknown number can be quickly solved through a FARA algorithm, and various errors need to be eliminated through a difference method, wherein the method comprises the following steps:
and (3) carrying out difference calculation between stations on the phase observed values:
wherein the content of the first and second substances,
is the station-to-satellite distance difference, delta t, between the vehicle-mounted terminal and the reference station21(t) is the difference between the receiver clock differences of the vehicle-mounted terminal and the reference station,
the difference of the whole-week unknowns of the vehicle-mounted terminal and the reference station;
satellite clock error can be eliminated by inter-station difference finding, and because the distance between a satellite reference station and a vehicle-mounted terminal is very close, the error caused by atmospheric delay is very close, so that the delay error of an ionosphere and a troposphere can be basically eliminated;
and (3) solving the double differences between stations and between stars according to a formula (c):
wherein the content of the first and second substances,
is composed of
And
difference, and vehicle-mounted terminal and reference station and satellite SjAnd SkThe station-to-satellite distance of (1),
is composed of
And
the difference, i.e. the vehicle-mounted terminal and the reference station and the satellite SjAnd SkDouble differences of the whole-week unknowns of (c);
the receiver clock difference can be further eliminated through double differences;
since the position of the reference station is known, the distance of the reference station from the satellite can be considered as a known quantity; after solving the whole cycle of unknown numbers by FARA algorithm, the unknown parameters in the formula (c) only remain in the satellite signal receiver T of the vehicle-mounted terminal2And satellite SjAnd SkIs a distance of
And
as long as two satellites are observed additionally, the simultaneous equations can solve the station-to-satellite distances between the vehicle-mounted receiver at the time t and the four satellites, so that the accurate position of the vehicle-mounted terminal is obtained;
if t1And t2The vehicle position (n) is measured at a time1,e1),(n2,e2) Wherein n is the latitude value and e is the longitude value. The running speed and direction of the vehicle in the time period can be calculated according to the formula (IV):
the invention has the following excellent technical scheme: when the satellite reference station acquires satellite observation information in the step (2), regarding the position where the satellite signal fails, the position before the signal fails as initial positioning, and then calculating the moving distance of the molten iron transporting locomotive relative to the initial position according to the speed signal output by the speedometer of the molten iron transporting locomotive, so as to obtain the position of the molten iron transporting locomotive on the map.
The invention has the following excellent technical scheme: the vehicle-mounted visual terminal and the display terminal of the monitoring center are interlocked with the station signal microcomputer to monitor the station signal access state; the vehicle-mounted visual terminal displays the accurate position of the molten iron transportation locomotive, the states of the route and the turnout, the distance from a signal lamp, the running direction and speed and the state of the station yard signal route in real time, prompts and pre-warns in the forms of voice and light, and assists in guiding the safe running of the locomotive; the display terminal arranged in the monitoring center is a PC terminal, the PC terminal displays real-time positions of a station and a molten iron transporting locomotive on a plant area railway map, the state of the molten iron transporting locomotive is remotely and dynamically monitored, and the monitoring system has the functions of running record playback, system state monitoring and driving duration statistics.
The invention has the following excellent technical scheme: the process of converting the precise coordinates of the molten iron transporting locomotive into coordinates of a coordinate system consistent with the factory area railway map in the step (4) is as follows: the precise coordinates of the locomotive calculated by satellite positioning are spherical longitude and latitude coordinates under a WGS84 coordinate system, are converted into plane coordinates with a meter as a unit through Gaussian projection forward calculation, and then are converted into coordinates under a plant area railway map coordinate system through four-parameter coordinate conversion calculation.
The high-definition intelligent video monitoring module comprises eight cameras installed on a locomotive, so that a single attendant can be ensured to watch without dead angles in the normal driving process; the camera adopts personalized configuration according to different requirements of each position, the video display and the navigation graphic display share the same set of display, and touch switching is realized. The vehicle-mounted equipment adopts a special backup power supply to ensure the integrity of the video monitoring file in a power failure or abnormal state. The video data can be stored and played back for at least one week, and the functions of intelligent identification and speech broadcasting of locomotive signal lamps, wireless dispatching and communication between a locomotive and a ground and the like are achieved.
The software management system of the present invention specifically includes: in the interface of the locomotive vehicle-mounted management software, a real-time position map is arranged on the left side, a station track circuit diagram is arranged on the right side, the current position, the states and the distances of front and rear signal lamps of a locomotive can be displayed, and the locomotive vehicle-mounted management software has the functions of voice broadcasting, warning prompting and the like; the ground client management software is used for displaying the positions of a station and a locomotive in a real map (station map) mode and remotely and dynamically monitoring the state of the locomotive in order to facilitate the dispatching manager to intuitively master the locomotive. Meanwhile, the system has the functions of running recording and playback, system state monitoring and the like.
The safety monitoring system of the molten iron transportation locomotive is based on a railway communication network and an operator wireless private network, and a set of real-time data transmission network among a train ground, a train and a vehicle person is constructed. In order to guarantee network security, an isolation mechanism is established between an internal network and an external network.
The GNSS is a Global Navigation Satellite System (Global Navigation Satellite System), and provides all-weather three-dimensional coordinates, speed and time information for a user by utilizing the observed quantities of pseudo-range, ephemeris, clock error and the like of a group of satellites. GIS is the Geographic Information System, GIS is a computer-based tool that can analyze and process spatial Information. GIS technology integrates the unique visualization and geographic analysis functions of maps with general database operations. Streaming media technology refers to a technology and process of compressing a series of media data, sending the data by segments on the network, and transmitting video and audio on the network in real time for viewing. The streaming transmission can transmit the on-site video or the film pre-stored in the server, and when the viewer watches the video files, the video data is immediately played by the specific playing software after reaching the computer of the viewer. The GNSS can obtain an accurate real-time position and running state of the vehicle. The GIS can provide visual display for positioning and navigation of the vehicle. The streaming media technology can enable high-definition video monitoring to be transmitted efficiently in real time.
Compared with the prior art, the invention has the beneficial effects that: the novel technical equipment is applied through research and design, the bottleneck problems of accurate identification of a signal in the front of an approach of the locomotive, elimination of observation blind areas and the like are solved, and the change of the traditional double-driver driving operation mode of the locomotive can be promoted, so that operating personnel are reduced, the human resource cost is effectively reduced, and the labor productivity of the locomotive is improved. The single-person driving mode of the push locomotive is researched. The driver and the passenger of the locomotive can be reduced by half only from the aspect of changing double drivers into single drivers.
Drawings
FIG. 1 is a schematic view of a molten iron transporting locomotive safety monitoring system according to the present invention;
FIG. 2 is a schematic diagram of the distribution of locomotive cameras of the safety guarantee system of the molten iron transporting locomotive of the invention;
FIG. 3 is a design drawing of a satellite reference station of the safety guarantee system of the molten iron transporting locomotive according to the invention;
FIG. 4 is a diagram of a vehicle-mounted mobile APP visual software interface of the safety guarantee system of the molten iron transportation locomotive.
Detailed Description
The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The safety monitoring system for the molten iron transportation locomotive provided in the embodiment comprises a high-definition intelligent video monitoring module, a high-precision positioning module, a locomotive safety visual monitoring module and a monitoring center server, as shown in fig. 1.
The high-definition intelligent video monitoring module comprises eight cameras installed on a molten iron transportation locomotive and respectively located at the front rear part, the front and rear coupler positions, the left and right directions in a cab and the left and right side parts of the locomotive, wherein the eight cameras acquire real-time monitoring pictures of the molten iron transportation locomotive in different directions and transmit the real-time monitoring pictures to a vehicle-mounted mobile APP visual terminal in the cab in real time; through intelligent switching of monitoring pictures, no dead angle observation of a single attendant in the normal driving process is guaranteed; the camera adopts personalized configuration according to different requirements of each position, video information is integrated into the vehicle-mounted mobile APP visual terminal, and switching can be performed through touch. The vehicle-mounted equipment adopts a special backup power supply to ensure the integrity of the video monitoring file in a power failure or abnormal state. The video data are automatically stored in a video storage device on the locomotive for a week, and the video can be played back through a vehicle-mounted mobile APP visual terminal.
As shown in fig. 3, the high-precision positioning module comprises a satellite reference station, a vehicle-mounted positioning terminal and a network communication module, the network communication module transmits observation data of the satellite reference station and positioning data of the vehicle-mounted positioning terminal to a monitoring center server, the monitoring center server calculates the precise position, the running direction and the speed of the molten iron transportation locomotive in a real-time differential manner, and the molten iron transportation locomotive carries out coordinate conversion and then transmits the result to a display terminal and a vehicle-mounted visual terminal of the monitoring center. The locomotive vehicle-mounted positioning terminal sends satellite positioning data and locomotive state data to a monitoring center in real time through a wireless communication network; the monitoring center receives the positioning information of the satellite reference station and the real-time positioning information of the locomotive, and the information is combined with the railway thematic map to calculate the accurate position, direction and speed of the locomotive. The positioning method mainly adopts satellite differential positioning, and assists with a plurality of technologies such as orbit circuit, speed mileage calculation, map adaptation and the like. For the place of satellite signal failure, the position before signal failureSet as the initial positioning, assume (x)1,y2) Reading the speed of the locomotive every 2s, calculating the moving distance of the locomotive relative to the initial position according to a speed signal output by a locomotive speedometer, wherein s is v1·t+v2·t+…+vnT, where t is 2 s. And judging the track where the locomotive is located according to the initial position of the locomotive, and estimating the position of the locomotive on the map by advancing the locomotive on a track route map by a corresponding length according to the running distance and the running direction of the locomotive. The distance can be directly used for positioning the locomotive in the section without the turnout, and the state of the track circuit is detected in the section with the turnout, so that the correct station position of the locomotive is obtained. Satellite positioning is carried out again on the road section with good signals, and the position of the locomotive is corrected; the monitoring center server screens information such as the accurate position, direction and speed of the locomotive, station signal access state acquired by combining with microcomputer interlocking equipment and the like, and transmits information useful for driver operation back to the vehicle-mounted mobile APP visual terminal.
The locomotive safety visual monitoring module comprises a vehicle-mounted mobile APP visual terminal arranged in a cab of the molten iron transportation locomotive, and a PC terminal arranged in a monitoring center; on-vehicle removal APP visual terminal, as shown in FIG. 4 on the factory railway special map integrated positioning data, station signal route, video information, real-time display locomotive current position, front and back signal lamp state and distance, possess functions such as voice broadcast, warning simultaneously. The information that on-vehicle removal APP visual monitor terminal will acquire is exported with the form of figure, light, pronunciation, lets the driver can in time, accurately sense the state of signal, route, switch to and the locomotive position, with the distance of signal lamp etc. to supplementary driver safety work. The monitoring center PC terminal is used for displaying real-time positions of stations and all molten iron transporting locomotives on a special railway map of a factory area and remotely and dynamically monitoring states of the locomotives in order to facilitate dispatching managers to intuitively master the locomotives. Meanwhile, the system has the functions of running record playback, system state monitoring, driving duration statistics and the like.
The vehicle-mounted visual terminal can be interlocked with a display terminal of a monitoring center and a station signal microcomputer to monitor the station signal access state; the vehicle-mounted visual terminal displays the accurate position of the molten iron transportation locomotive, the states of the route and the turnout, the distance from a signal lamp, the running direction and speed and the state of the station yard signal route in real time, prompts and pre-warns in the forms of voice and light, and assists in guiding the safe running of the locomotive; the display terminal arranged in the monitoring center is a PC terminal, the PC terminal displays real-time positions of a station and a molten iron transporting locomotive on a plant area railway map, the state of the molten iron transporting locomotive is remotely and dynamically monitored, and the monitoring system has the functions of running record playback, system state monitoring and driving duration statistics.
The safety monitoring method for the molten iron transporting locomotive provided by the embodiment is used for monitoring, and is characterized by comprising the following specific steps:
(1) the method comprises the steps that real-time monitoring pictures of different directions of a molten iron transport locomotive are obtained through eight cameras installed in the different directions of the molten iron transport locomotive and are transmitted to a vehicle-mounted mobile APP visual terminal in a cab in real time, and a single driver observes the conditions of the molten iron transport locomotive in all directions through the vehicle-mounted mobile APP visual terminal in the normal driving process;
(2) the satellite reference station acquires satellite observation information and transmits the satellite observation information to the monitoring center server through a wireless network; when satellite observation information is acquired at a satellite reference station, aiming at a satellite signal failure place, taking the position before the signal failure as initial positioning, and then calculating the moving distance of the molten iron transporting locomotive relative to the initial position according to a speed signal output by a speedometer of the molten iron transporting locomotive to obtain the position of the molten iron transporting locomotive on a map;
(3) the locomotive vehicle-mounted terminal sends satellite positioning data and molten iron transportation locomotive state data to a monitoring center server in real time through a wireless communication network;
(4) the monitoring center server receives observation information of a satellite reference station and locomotive real-time positioning information of a locomotive vehicle-mounted terminal, calculates the accurate position, direction and speed of the locomotive, and converts the accurate coordinates of the molten iron transportation locomotive into coordinates of a coordinate system consistent with a factory railway map; the monitoring center transmits the converted accurate position, direction and speed information of the molten iron transporting locomotive to a vehicle-mounted visual terminal and a display terminal of the monitoring center, and a driver and monitoring center personnel monitor the real-time position and the locomotive state of the molten iron transporting locomotive through the vehicle-mounted visual terminal and the display terminal of the monitoring center; the process of calculating the accurate position, direction and speed of the locomotive is as follows:
satellite signal receiver T of satellite reference station1And vehicle terminal satellite signal receiver T2To satellite SjAnd SkIn epoch t1And t2Synchronously observing the time to obtain a satellite signal receiver T1At t1Time-of-day satellite SjAnd SkRespectively, of the carrier phase observations
Satellite signal receiver T1At t2Time-of-day satellite SjAnd SkRespectively, of the carrier phase observations
Satellite signal receiver T2At t1Time-of-day satellite SjAnd SkRespectively, of the carrier phase observations
Satellite signal receiver T2At t2Time-of-day satellite SjAnd SkRespectively, of the carrier phase observations
The carrier phase observation equation is as follows:
wherein the content of the first and second substances,
for receiver TiFor satellite S at time tjF is the signal frequency, c is the speed of light, all are known quantities;
is the standing star distance, ti(t) is the receiver clock error, tj(t) is the clock error of the satellite,
for the unknown number of the whole week,
for the purpose of ionospheric delay correction,
delay correction for troposphere;
solving the whole week unknown number and various errors according to an observation equation to obtain the station-satellite distance; the accurate position of the satellite can be obtained by resolving a satellite ephemeris, the spherical surface where the receiver is located can be determined through the satellite-to-satellite distance between the receiver and one satellite, and when the receiver observes at least 4 satellites simultaneously, the unique coordinate point of the receiver can be determined through the intersection of the 4 spherical surfaces; the whole-week unknown number can be quickly solved through a FARA algorithm, and various errors need to be eliminated through a difference method, wherein the method comprises the following steps:
and (3) carrying out difference calculation between stations on the phase observed values:
wherein the content of the first and second substances,
is the station-to-satellite distance difference, delta t, between the vehicle-mounted terminal and the reference station21(t) is the difference between the receiver clock differences of the vehicle-mounted terminal and the reference station,
the difference of the whole-week unknowns of the vehicle-mounted terminal and the reference station;
satellite clock error can be eliminated by inter-station difference finding, and because the distance between a satellite reference station and a vehicle-mounted terminal is very close, the error caused by atmospheric delay is very close, so that the delay error of an ionosphere and a troposphere can be basically eliminated;
and (3) solving the double differences between stations and between stars according to a formula (c):
wherein the content of the first and second substances,
is composed of
And
difference, and vehicle-mounted terminal and reference station and satellite SjAnd SkThe station-to-satellite distance of (1),
is composed of
And
the difference, i.e. the vehicle-mounted terminal and the reference station and the satellite SjAnd SkDouble differences of the whole-week unknowns of (c);
the receiver clock difference can be further eliminated through double differences;
since the position of the reference station is known, the distance of the reference station from the satellite can be considered as a known quantity; after solving the whole cycle of unknown numbers by FARA algorithm, the unknown parameters in the formula (c) only remain in the satellite signal receiver T of the vehicle-mounted terminal2And satellite SjAnd SkIs a distance of
And
as long as two satellites are observed additionally, the simultaneous equations can solve the station-to-satellite distances between the vehicle-mounted receiver at the time t and the four satellites, so that the accurate position of the vehicle-mounted terminal is obtained;
if t1And t2The vehicle position (n) is measured at a time1,e1),(n2,e2) Wherein n is the latitude value and e is the longitude value. The running speed and direction of the vehicle in the time period can be calculated according to the formula (IV):
the process of converting the precise coordinates of the molten iron transporting locomotive into coordinates of a coordinate system consistent with the factory area railway map in the step (4) is as follows: the precise coordinates of the locomotive calculated by satellite positioning are spherical longitude and latitude coordinates under a WGS84 coordinate system, are converted into plane coordinates with a meter as a unit through Gaussian projection forward calculation, and then are converted into coordinates under a plant area railway map coordinate system through four-parameter coordinate conversion calculation.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.
Claims (10)
1. The utility model provides a molten iron haulage motor safety monitoring system which characterized in that: the monitoring system comprises a video monitoring module, a high-precision positioning module, a locomotive safety visual monitoring module and a monitoring center server, wherein the locomotive safety visual monitoring module comprises a vehicle-mounted visual terminal arranged in a cab of the molten iron transportation locomotive and a display terminal arranged in the monitoring center;
the video monitoring module comprises a plurality of cameras which are arranged at different directions of the molten iron transport locomotive, and the cameras acquire real-time monitoring pictures at different directions of the molten iron transport locomotive and transmit the real-time monitoring pictures to a vehicle-mounted visual terminal in a cab in real time;
the high-precision positioning module comprises a satellite reference station, a vehicle-mounted positioning terminal and a network communication module, the network communication module transmits observation data of the satellite reference station and positioning data of the vehicle-mounted positioning terminal to a monitoring center server, the monitoring center server differentially calculates the precise position, the running direction and the speed of the molten iron transportation locomotive in real time, and the molten iron transportation locomotive carries out coordinate conversion and then transmits the molten iron transportation locomotive to a display terminal and a vehicle-mounted visual terminal of the monitoring center.
2. The safety monitoring system for the molten iron transporting locomotive according to claim 1, wherein: the monitoring center server receives observation data of a satellite reference station and positioning data of a vehicle-mounted positioning terminal, the accurate position, the running direction and the speed of the molten iron transportation locomotive are calculated in a real-time differential mode, spherical longitude and latitude coordinates under a WGS84 coordinate system are converted into plane coordinates with the unit of meter through Gaussian projection forward calculation, and then the plane coordinates are converted into coordinate system coordinates consistent with a plant area railway map through four-parameter coordinates.
3. The safety monitoring system for the molten iron transporting locomotive according to claim 1, wherein: the high-definition intelligent video monitoring module comprises eight cameras installed on the molten iron transportation locomotive and is respectively positioned at the front rear part, the front and rear coupler positions, the left and right directions in the cab and the left and right sides of the locomotive.
4. The safety monitoring system for the molten iron transporting locomotive according to claim 1, wherein: the vehicle-mounted visual terminal is a vehicle-mounted mobile APP visual terminal, integrates positioning data, station signal access and video information on a plant area railway map, displays the current position, the states and the distances of front and rear signal lamps of the molten iron transportation locomotive in real time, and simultaneously performs voice broadcasting and warning; the display terminal arranged in the monitoring center is a PC terminal, the PC terminal displays real-time positions of a station and a molten iron transporting locomotive on a plant area railway map, the state of the molten iron transporting locomotive is remotely and dynamically monitored, and meanwhile, the monitoring system has the functions of running record playback, system state monitoring and driving duration statistics.
5. The safety monitoring system for the molten iron transporting locomotive according to claim 1, wherein: the locomotive safety visual monitoring module and the station yard signal microcomputer are interlocked to confirm the information access of the locomotive.
6. A safety monitoring method for a molten iron transporting locomotive, which is monitored by using the monitoring system of any one of claims 1 to 5, and is characterized by comprising the following specific steps:
(1) the method comprises the steps that real-time monitoring pictures of different directions of the molten iron transport locomotive are obtained through a plurality of cameras arranged in the different directions of the molten iron transport locomotive and are transmitted to a vehicle-mounted visual terminal in a cab in real time, and a single driver observes the conditions of the molten iron transport locomotive in all directions through the vehicle-mounted visual terminal in the normal driving process;
(2) the satellite reference station acquires satellite observation information and transmits the satellite observation information to the monitoring center server through a wireless network;
(3) the locomotive vehicle-mounted terminal sends satellite positioning data and molten iron transportation locomotive state data to a monitoring center server in real time through a wireless communication network;
(4) the monitoring center server receives observation information of a satellite reference station and locomotive real-time positioning information of a locomotive vehicle-mounted terminal, calculates the accurate position, direction and speed of the locomotive, and converts the accurate coordinates of the molten iron transportation locomotive into coordinates of a coordinate system consistent with a factory railway map; the monitoring center transmits the converted accurate position, direction and speed information of the molten iron transporting locomotive to the vehicle-mounted visual terminal and the display terminal of the monitoring center, and a driver and monitoring center personnel monitor the real-time position and the locomotive state of the molten iron transporting locomotive through the vehicle-mounted visual terminal and the display terminal of the monitoring center.
7. The safety monitoring method for the molten iron transportation locomotive according to claim 6, characterized in that: the process of calculating the accurate position, direction and speed of the locomotive in the step (4) is as follows: satellite signal receiver T of satellite reference station1And vehicle terminal satellite signal receiver T2To satellite SjAnd SkIn epoch t1And t2Synchronously observing the time to obtain a satellite signal receiver T1At t1Time-of-day satellite SjAnd SkRespectively, of the carrier phase observations
Satellite signal receiver T1At t2Time-of-day satellite SjAnd SkRespectively, of the carrier phase observations
Satellite signal receiver T2At t1Time-of-day satellite SjAnd SkRespectively, of the carrier phase observations
Satellite signal receiver T2At t2Time-of-day satellite SjAnd SkRespectively, of the carrier phase observations
The carrier phase observation equation is as follows:
wherein the content of the first and second substances,
for receiver TiFor satellite S at time tjF is the signal frequency, c is the speed of light, all are known quantities;
is the standing star distance, ti(t) is the receiver clock error, tj(t) is the clock error of the satellite,
for the unknown number of the whole week,
for the purpose of ionospheric delay correction,
delay correction for troposphere;
solving the whole week unknown number and various errors according to an observation equation to obtain the station-satellite distance; the accurate position of the satellite can be obtained by resolving a satellite ephemeris, the spherical surface where the receiver is located can be determined through the satellite-to-satellite distance between the receiver and one satellite, and when the receiver observes at least 4 satellites simultaneously, the unique coordinate point of the receiver can be determined through the intersection of the 4 spherical surfaces; the whole-week unknown number can be quickly solved through a FARA algorithm, and various errors need to be eliminated through a difference method, wherein the method comprises the following steps:
and (3) carrying out difference calculation between stations on the phase observed values:
wherein the content of the first and second substances,
is the station-to-satellite distance difference, delta t, between the vehicle-mounted terminal and the reference station21(t) is the difference between the receiver clock differences of the vehicle-mounted terminal and the reference station,
the difference of the whole-week unknowns of the vehicle-mounted terminal and the reference station;
satellite clock error can be eliminated by inter-station difference finding, and because the distance between a satellite reference station and a vehicle-mounted terminal is very close, the error caused by atmospheric delay is very close, so that the delay error of an ionosphere and a troposphere can be basically eliminated;
and (3) solving the double differences between stations and between stars according to a formula (c):
wherein the content of the first and second substances,
is composed of
And
difference, and vehicle-mounted terminal and reference station and satellite SjAnd SkThe station-to-satellite distance of (1),
is composed of
And
the difference, i.e. vehicle-mounted terminal and reference station and guardStar SjAnd SkDouble differences of the whole-week unknowns of (c);
the receiver clock difference can be further eliminated through double differences;
since the position of the reference station is known, the distance of the reference station from the satellite can be considered as a known quantity; after solving the whole cycle of unknown numbers by FARA algorithm, the unknown parameters in the formula (c) only remain in the satellite signal receiver T of the vehicle-mounted terminal2And satellite SjAnd SkIs a distance of
And
as long as two satellites are observed additionally, the simultaneous equations can solve the station-to-satellite distances between the vehicle-mounted receiver at the time t and the four satellites, so that the accurate position of the vehicle-mounted terminal is obtained;
if t1And t2The vehicle position (n) is measured at a time1,e1),(n2,e2) Wherein n is the latitude value and e is the longitude value. The running speed and direction of the vehicle in the time period can be calculated according to the formula (IV):
8. the safety monitoring method for the molten iron transportation locomotive according to claim 6, characterized in that: when the satellite reference station acquires satellite observation information in the step (2), regarding the position where the satellite signal fails, the position before the signal fails as initial positioning, and then calculating the moving distance of the molten iron transporting locomotive relative to the initial position according to the speed signal output by the speedometer of the molten iron transporting locomotive, so as to obtain the position of the molten iron transporting locomotive on the map.
9. The safety monitoring method for the molten iron transportation locomotive according to claim 6, characterized in that: the vehicle-mounted visual terminal and the display terminal of the monitoring center are interlocked with the station signal microcomputer to monitor the station signal access state; the vehicle-mounted visual terminal displays the accurate position of the molten iron transportation locomotive, the states of the route and the turnout, the distance from a signal lamp, the running direction and speed and the state of the station yard signal route in real time, prompts and pre-warns in the forms of voice and light, and assists in guiding the safe running of the locomotive; the display terminal arranged in the monitoring center is a PC terminal, the PC terminal displays real-time positions of a station and a molten iron transporting locomotive on a plant area railway map, the state of the molten iron transporting locomotive is remotely and dynamically monitored, and the monitoring system has the functions of running record playback, system state monitoring and driving duration statistics.
10. The safety monitoring method for the molten iron transportation locomotive according to claim 6, characterized in that: the process of converting the precise coordinates of the molten iron transporting locomotive into coordinates of a coordinate system consistent with the factory area railway map in the step (4) is as follows: the precise coordinates of the locomotive calculated by satellite positioning are spherical longitude and latitude coordinates under a WGS84 coordinate system, are converted into plane coordinates with a meter as a unit through Gaussian projection forward calculation, and then are converted into coordinates under a plant area railway map coordinate system through four-parameter coordinate conversion calculation.
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