CN112378352B - Real-time remote online monitoring system for cargo displacement in railway transportation process - Google Patents

Real-time remote online monitoring system for cargo displacement in railway transportation process Download PDF

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CN112378352B
CN112378352B CN202011192556.7A CN202011192556A CN112378352B CN 112378352 B CN112378352 B CN 112378352B CN 202011192556 A CN202011192556 A CN 202011192556A CN 112378352 B CN112378352 B CN 112378352B
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goods
displacement
cargo
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real
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CN112378352A (en
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陈超
韩梅
米希伟
黄艳春
韩延慧
王子吉安
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Beijing Jiaotong University
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B17/00—Measuring arrangements characterised by the use of infrasonic, sonic or ultrasonic vibrations
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G—PHYSICS
    • G08—SIGNALLING
    • G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
    • G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
    • G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link

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Abstract

The invention relates to a real-time remote online monitoring system for cargo displacement in railway transportation, which comprises: the vehicle-mounted end hardware system is used for acquiring safety index information; the vehicle-mounted end hardware system transmits the acquired safety index information to a remote management system in a wireless communication mode; the remote management system is used for analyzing the received safety index information in real time and finishing on-line monitoring; the vehicle-mounted end hardware system comprises: the system comprises a sensor module, a power supply module, a wireless transmission module and a control unit; the sensor module is connected to the control unit, and the control unit is connected to the wireless transmission module and is communicated with the data transmission cloud platform through a wireless network; and the power supply module is connected with the control unit through a cable. The invention can monitor the displacement of the goods in a remote and real-time manner, and the obtained displacement data can be used for verifying the unbalance loading condition of the goods in the transportation process, determining whether the longitudinal unbalance loading and the transverse unbalance loading exceed specified values, and giving an alarm in time.

Description

Real-time remote online monitoring system for cargo displacement in railway transportation process
Technical Field
The invention relates to the technical field of railway freight transportation safety monitoring, in particular to a real-time remote online monitoring system for freight displacement in railway transportation.
Background
In the process of railway freight transportation, along with the improvement of the speed of a vehicle, if the center of gravity of the loaded goods is improper, the potential safety hazard of safety accidents is larger.
The existing technology of monitoring the displacement of goods loaded on a railway wagon can acquire the displacement condition of the goods, but cannot upload displacement data to the internet in real time to realize remote monitoring in different places.
Some prior art schemes rely on detection equipment installed below the track, and the real-time monitoring can be carried out only at a specified place, and the monitoring mode does not have the capability of whole-course monitoring.
Some prior art schemes can monitor in the whole process, but the collected data are remotely transmitted by depending on an RF transceiver (radio frequency transceiver) and ground fixed equipment arranged in a designated place and then uploaded to an upper computer by the ground fixed equipment, and the vehicle-ground communication mode does not have the capability of real-time uploading.
In some prior art schemes, although a wireless transmission module is arranged, displacement information is transmitted back to a receiving device of a cab of the same train through the wireless transmission module, abnormal values of displacement data received by the receiving device are removed, the abnormal values are compared with critical values, and an alarm occurs when the abnormal values exceed the critical values. However, the zigbee wireless transmission module is selected, which can only realize short-distance transmission and cannot transmit displacement data to a remote monitor through the internet.
The technical terms involved in the present invention have the following meanings:
1. unbalanced loading: the center of gravity of the cargo does not horizontally coincide with the center of gravity of the railway wagon, and includes longitudinal unbalance loading along the length direction of the wagon body and transverse unbalance loading along the width direction of the wagon body.
2. RF transceiver (radio frequency transceiver): a device capable of transmitting signals in a short-distance wireless mode is similar to a bus card and a bus card swiping machine.
3. An ultrasonic sensor: the device for measuring distance by using ultrasonic waves comprises an ultrasonic wave transmitting device and an ultrasonic wave receiving device, wherein the ultrasonic wave transmitting device transmits the ultrasonic waves, the ultrasonic waves are reflected after encountering an object to generate echoes, the echo is detected by the receiving device, the time difference from the transmission of the ultrasonic waves to the reception of the echo is counted, and the distance from the device to the object is calculated.
4. zigbee wireless transmission technology: the wireless communication technology is applied to short distance and low speed, and is mainly used for data transmission among various electronic devices with short distance, low power consumption and low transmission speed and typical application of periodic data, intermittent data and low reaction time data transmission.
The information disclosed in this background section is only for enhancement of understanding of the general background of the invention and should not be taken as an acknowledgement or any form of suggestion that this information forms the prior art already known to a person skilled in the art.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a real-time remote online monitoring system for the cargo displacement during railway transportation, which can remotely and real-timely monitor the cargo displacement, and the obtained displacement data can be used for verifying the unbalance loading condition of the cargo during transportation, determining whether longitudinal unbalance loading and transverse unbalance loading exceed specified values and giving an alarm in time.
In order to achieve the above purposes, the technical scheme adopted by the invention is as follows:
the utility model provides a real-time long-range on-line monitoring system of goods displacement volume on the way of railway transportation which characterized in that includes:
the vehicle-mounted end hardware system is arranged on the railway wagon and used for acquiring safety index information;
the vehicle-mounted end hardware system transmits the acquired safety index information to a remote management system in a wireless communication mode;
the remote management system is used for analyzing the received safety index information in real time and finishing on-line monitoring;
the vehicle-mounted end hardware system comprises: the system comprises a sensor module, a power supply module, a wireless transmission module and a control unit;
a sensor module comprising:
the displacement sensor is arranged on the goods outer package and is used for acquiring goods displacement information from goods to the wagon body of the railway wagon as safety index information,
the GPS sensor is arranged in a carriage of the railway wagon, is used for acquiring the geographical position information of the goods as index information for tracking the geographical position of the goods and is used for determining the position of the railway wagon when the goods displacement index gives an alarm;
the sensor module is connected to the control unit, and the control unit is connected to the wireless transmission module;
the power supply module is connected with the control unit through a cable and used for supplying power to the whole system;
and the wireless transmission module is used for communicating with the data transmission cloud platform through a wireless network.
On the basis of the technical scheme, the displacement sensor is specifically an open type ultrasonic sensor,
the GPS sensor is specifically a vehicle-mounted type GPS sensor.
On the basis of the technical scheme, the power supply module is a constant-voltage type direct current power supply module, and the specification of the power supply module is that the output voltage is 5V.
On the basis of the technical scheme, the wireless network is a 4G wireless network.
On the basis of the technical scheme, the data transmission cloud platform is used for wirelessly transmitting data between the vehicle-mounted end hardware system and the remote management system;
the data transmission cloud platform is an open platform of the PaaS Internet of things.
On the basis of the technical scheme, two displacement sensors are respectively arranged in the length direction and the width direction of the goods outer package, and four displacement sensors are used for measuring the displacement in real time,
the first displacement sensor 1 and the second displacement sensor 2 are arranged in the width direction of the goods outer package and correspond to the y-axis direction, the y-axis coordinate values of the first displacement sensor 1 and the second displacement sensor 2 are obtained by measurement before monitoring,
the third displacement sensor 3 and the fourth displacement sensor 4 are arranged in the length direction of the outer package of the goods and correspond to the x axial direction, and the x axial coordinate values of the third displacement sensor 3 and the fourth displacement sensor 4 are obtained through measurement before monitoring.
On the basis of the technical scheme, when the goods outer package generates displacement, the four displacement sensors respectively measure a displacement value, the four displacement values and GPS data acquired by the GPS sensors are transmitted to the control unit in real time and then transmitted to the remote management system through the wireless transmission module,
and a remote management system serving as a receiving terminal calculates the displacement value of any point on the cargo through a cargo plane attitude reduction model and an algorithm, and determines the GPS position information through GPS data.
On the basis of the technical scheme, the cargo plane attitude reduction model and algorithm comprise the following steps:
constructing a cargo plane motion attitude model, and limiting the following cargo motion attitudes in the cargo plane motion attitude model:
(1) the z-axis coordinate value of any point on the goods is not changed;
(2) the goods can not rotate around the x axis;
(3) the goods can not rotate around the y axis;
the reduction of the plane motion attitude of the cargo is carried out according to the following steps:
(1) selecting a mark point: the mounting position of the displacement sensor on the goods is adopted as a mark point, and the corresponding position of the displacement sensor on the body of the railway wagon is a railway wagon mark point;
(2) establishing a mark point position reduction model: obtaining a time sequence of marker point positions on the cargo by the time sequence of the displacement sensor data;
(3) establishing a cargo plane motion attitude reduction model: and obtaining the position time sequence of any point on the goods through the position time sequence of the mark point on the goods.
On the basis of the technical scheme, the number of the marking points in the step (1) is 8,
P1，P2，P3，P4is a marked point on the goods and is,
Q1，Q2，Q3，Q4is a mark on a railway wagonPoint;
before monitoring, measuring coordinates of a mark point on the goods in a coordinate system x '-y' on the goods, and transforming the coordinates in the x '-y' coordinate system into coordinates in a coordinate system x-y coordinate system on the railway wagon through coordinate transformation;
during the monitoring process, the displacement sensor collects Pi，QiDistance l between two pointsiThe set of distances acquired at any one time constitutes a distance vector L, denoted as
L＝(l1 l2 l3 l4) (2)
In the calculation, P is selected1，P2，P3And Q1，Q2，Q3As input point, P4And Q4As a checkpoint;
the goods themselves being considered rigid bodies, P1，P2，P3The distance between any two points in the three points is not changed in the monitoring process, and the distance is set as kiAnd then:
Figure BDA0002753174910000061
Figure BDA0002753174910000062
Figure BDA0002753174910000071
wherein the content of the first and second substances,
Figure BDA0002753174910000072
in the monitoring process, goods and a railway wagon move relatively, and the displacement sensor acquires P at a certain sampling frequencyiAnd QiA distance l betweeni(ii) a A set of distances l according to any one timeiAnd the coordinate Pi(xi,yi) And Qi(ai,bi) A set of equations can be obtained, namely a marker position reduction model:
Figure BDA0002753174910000073
Figure BDA0002753174910000074
Figure BDA0002753174910000075
wherein the content of the first and second substances,
Figure BDA0002753174910000076
the data of the three sets of displacement sensors are substituted into an equation set, and the numerical values of three mark points on the goods can be calculated;
the numerical solution of the equation set is solved by newton's method.
On the basis of the technical scheme, the specific steps of solving the numerical solution of the equation set by the Newton method are as follows:
step 1, transforming an equation set into a Newton method standard form;
step 2, constructing a Jacobian matrix of the F vector;
step 3, constructing an iterative formula;
step 4, setting outlet conditions;
and 5, selecting an initial point.
The real-time remote online monitoring system for the cargo displacement in the railway transportation process has the following beneficial effects:
the cargo displacement can be remotely and timely monitored, the acquired displacement data can be used for verifying the unbalance loading condition of the cargo in the transportation process, and the method is used for determining whether the longitudinal unbalance loading and the transverse unbalance loading exceed specified values or not and timely giving an alarm.
Due to the influence of factors such as shunting impact, acceleration, braking and the like in the process of transporting the goods on the railway, the goods can be horizontally displaced and rotated in a small range relative to the railway freight car. When the goods displacement volume is too big, probably influence railway freight car operation security, perhaps cause goods and railway freight car side wall and headwall contact, produce the goods and decrease. The real-time remote online monitoring system for the cargo displacement during railway transportation can effectively monitor the cargo displacement generated by a railway wagon in operation or shunting impact, and can avoid the above situations.
Drawings
The invention has the following drawings:
the drawings are included to provide a better understanding of the invention and are not to be construed as unduly limiting the invention. Wherein:
FIG. 1 is a system architecture diagram of a real-time remote online monitoring system for cargo displacement during railway transportation according to the present invention.
Fig. 2 is a schematic view of the loading of cargo in a railway wagon.
Fig. 3 is a schematic view of the cargo at a certain time after horizontal displacement and horizontal rotation.
FIG. 4 is a schematic diagram of a system coordinate system.
FIG. 5 is a schematic diagram of the mark point locations.
Fig. 6 is a flow chart of real-time calculation of the cargo displacement.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings. The detailed description, while indicating exemplary embodiments of the invention, is given by way of illustration only, in which various details of embodiments of the invention are included to assist understanding. Accordingly, it will be appreciated by those skilled in the art that various changes and modifications may be made to the embodiments described herein without departing from the scope and spirit of the invention. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.
As shown in fig. 1, the real-time remote online monitoring system for cargo displacement in railway transportation according to the present invention comprises:
the vehicle-mounted end hardware system is arranged on the railway wagon and used for acquiring safety index information;
the vehicle-mounted end hardware system transmits the acquired safety index information to a remote management system in a wireless communication mode;
the remote management system is used for analyzing the received safety index information in real time and finishing on-line monitoring;
the vehicle-mounted end hardware system comprises: the system comprises a sensor module, a power supply module, a wireless transmission module and a control unit; wherein:
the power supply module, the wireless transmission module and the control unit are integrated into a whole to form a vehicle-mounted end device which is arranged on the railway wagon,
a sensor module comprising:
the displacement sensor is arranged on the goods outer package and is used for acquiring goods displacement information from goods to the wagon body of the railway wagon as safety index information,
the displacement sensor is specifically an open type ultrasonic sensor, such as an HY-SRF05 model displacement sensor;
the GPS sensor is arranged in a carriage of the railway wagon, is used for acquiring the geographical position information of the goods as index information for tracking the geographical position of the goods, is used for determining the position of the railway wagon when the goods displacement index gives an alarm,
the GPS sensor is a vehicle-mounted GPS sensor, such as a GPS sensor with an SMA interface;
the sensor module is connected to the control unit, and the control unit is connected to the wireless transmission module; the sensor module remotely transmits data to the data cloud platform through the wireless transmission module and then transmits the data to the remote management system after the acquired data information is processed by the control unit;
a power supply module connected with the control unit through a cable for supplying power to the whole system,
as an alternative embodiment, the power supply module is a constant voltage type dc power supply module, and its specification is 5V output voltage;
as an alternative embodiment, the power supply module should have a large capacity and an explosion-proof function to ensure the normal operation of the monitoring system in railway transportation;
a wireless transmission module for communicating with the data transmission cloud platform through a wireless network,
the wireless network is a 4G wireless network;
as an alternative embodiment, the wireless transmission module is an integrated 4G wireless transmission module, such as an EC 204G module.
On the basis of the technical scheme, the data transmission cloud platform is used for wirelessly transmitting data between the vehicle-mounted end hardware system and the remote management system;
as an alternative embodiment, the data transmission cloud Platform is a Platform as a Service (PaaS as a Service) internet of things (iot) open Platform;
for example: the platform OneNet is an open platform of the China Mobile Internet of things.
On the basis of the technical proposal, as shown in figure 2, two displacement sensors are respectively arranged in the length direction and the width direction of the goods outer package, and four displacement sensors are used for measuring displacement in real time,
the first displacement sensor 1 and the second displacement sensor 2 are arranged in the width direction of the goods outer package and correspond to the y-axis direction, the y-axis coordinate values of the first displacement sensor 1 and the second displacement sensor 2 are obtained by measurement before monitoring,
the third displacement sensor 3 and the fourth displacement sensor 4 are arranged in the length direction of the outer package of the goods and correspond to the x axial direction, and the x axial coordinate values of the third displacement sensor 3 and the fourth displacement sensor 4 are obtained through measurement before monitoring.
On the basis of the technical scheme, as shown in fig. 3, when the goods outer package generates displacement, the four displacement sensors respectively measure a displacement value, the four displacement values and the GPS data acquired by the GPS sensors are transmitted to the control unit in real time and then transmitted to the remote management system through the wireless transmission module,
and a remote management system serving as a receiving terminal calculates the displacement value of any point on the cargo through a cargo plane attitude reduction model and an algorithm, and determines the GPS position information through GPS data.
Fig. 3 is mainly used for illustrating the state of the goods after translation and rotation during the railway goods transportation process. The solid line is the original state and the dotted line is the state after the cargo has been translated and rotated relative to the railway wagon.
On the basis of the technical scheme, the cargo plane attitude reduction model and algorithm comprise the following steps:
1. constructing a model of the attitude of the plane movement of the goods
According to the actual stress conditions of goods and railway wagons in railway transportation, the goods can only have plane motion relative to the railway wagons, so that the following goods motion attitude restrictions are carried out in a goods plane motion attitude model:
(1) the z-axis coordinate value of any point on the goods is not changed;
(2) the goods can not rotate around the x axis;
(3) the goods cannot be rotated around the y-axis.
The constructed cargo plane motion attitude model is shown in fig. 2.
2. As shown in fig. 6, the reduction of the planar motion attitude of the cargo is performed according to the following steps:
(1) selecting a mark point: the mounting position of the displacement sensor on the goods is adopted as a mark point, and the corresponding position of the displacement sensor on the body of the railway wagon is a railway wagon mark point;
the selection of the four marking points on the goods and the railway wagon meets the requirement that the three marking points under the same coordinate system cannot be collinear;
(2) establishing a mark point position reduction model: obtaining a time sequence of marker point positions on the cargo by the time sequence of the displacement sensor data;
(3) establishing a cargo plane motion attitude reduction model: and obtaining the position time sequence of any point on the goods through the position time sequence of the mark point on the goods.
2.1 model for restoring positions of marked points
In order to describe the position and the posture of the goods in the railway wagon, a system reference coordinate system and a connected coordinate system are respectively arranged. A system reference coordinate system is set on the railway wagon, and a connected coordinate system is set on the goods, as shown in fig. 4.
The x-y coordinate system is a coordinate system on the railway wagon, the origin of coordinates is at the vertex angle of the railway wagon, the x-axis direction is parallel to the longitudinal direction of the wagon body, and alpha rotating around the z-axis is specified to be positive along the counterclockwise direction according to the right-hand rule;
the x ' -y ' coordinate system is a coordinate system on the goods, the origin of the coordinate is at the vertex angle of the goods, and the direction of the x ' axis is parallel to the longitudinal direction of the goods;
the x-y coordinate system and the x '-y' coordinate system can be subjected to translation transformation through a translation vector W and rotation transformation through a rotation matrix S;
let the coordinates of the point P in the x-y coordinate system be (x, y) and the coordinates in the x '-y' coordinate system be (x ', y'), the transformation relationship of the coordinates of the point P in the two coordinate systems is:
(x′,y′)T＝S(x,y)T+W (1)。
as shown in fig. 2, the total number of the marking points in step (1) is 8, and the positions of the 8 marking points are shown in fig. 5: p1，P2，P3，P4Is a marked point on the goods, Q1，Q2，Q3，Q4Is a mark point on the railway wagon.
The coordinates of the mark points on the railway wagon and the coordinates of the mark points on the goods adopt the coordinates under an x-y coordinate system. Since the x '-y' coordinate system is fixed to the cargo, the coordinates of the point on the cargo in the x '-y' coordinate system do not change over time. Before monitoring, measuring the coordinates of the mark points on the goods in a coordinate system x '-y' on the goods, and transforming the coordinates in the x '-y' coordinate system into the coordinates in a coordinate system x-y coordinate system on the railway wagon through coordinate transformation.
During the monitoring process, the displacement sensor collects Pi，QiDistance l between two pointsiThe set of distances acquired at any one time constitutes a distance vector L, denoted as
L＝(l1 l2 l3 l4) (2)
In the calculation, three pairs of marking points can be selected as input points, and one pair of marking points is selected as check points; calculating the data of the check point by using the data of the input point, and verifying the reliability of the data; model selection P1，P2，P3And Q1，Q2，Q3As input point, P4And Q4As a checkpoint.
The goods themselves being considered rigid bodies, P1，P2，P3The distance between any two points in the three points is not changed in the monitoring process, and the distance is set as kiAnd then:
Figure BDA0002753174910000141
Figure BDA0002753174910000142
Figure BDA0002753174910000143
wherein the content of the first and second substances,
Figure BDA0002753174910000151
during the monitoring process, the goods and the railway wagon move relatively, and the displacement sensor acquires P at a certain sampling frequency of 500HziAnd QiA distance l betweeni(ii) a A set of distances l according to any one timeiAnd the coordinate Pi(xi,yi) And Qi(ai,bi) A set of equations can be obtained, namely a marker position reduction model:
Figure BDA0002753174910000152
Figure BDA0002753174910000153
Figure BDA0002753174910000154
wherein the content of the first and second substances,
Figure BDA0002753174910000155
the data of the three sets of displacement sensors are substituted into an equation set, and the numerical values of the three mark points on the goods can be calculated.
2.2 solving the reduction model of the positions of the marked points
The reduction model of the mark points on the goods is a six-membered quadratic equation set, and numerical solution is required to be solved through a numerical method.
During the monitoring process, the goods can only be displaced and rotated within a small range, so that the position of the marking point on the goods is near the initial position at any time.
The Newton method is square convergence when solving the multi-element nonlinear equation system, and has higher convergence speed. The numerical solution of the equation set can be solved through a Newton method, and the method comprises the following steps:
step 1, transforming the equation set into a Newton method standard form:
Figure BDA0002753174910000156
Figure BDA0002753174910000161
Figure BDA0002753174910000162
Figure BDA0002753174910000163
and constructing an F vector:
F＝(f1,f2,f3,g1,g2,g3)T (13)
wherein X is (X)1,x2,x3) The vector is formed by the abscissa of the installation position of the displacement sensor on the goods;
Y＝(y1,y2,y3) The vector is formed by the vertical coordinates of the installation position of the displacement sensor on the goods;
x, Y and P1，P2，P3The following corresponding relations exist:
Figure BDA0002753174910000164
step 2, constructing a Jacobian matrix of the F vector:
Figure BDA0002753174910000165
step 3, constructing an iterative formula:
Figure BDA0002753174910000166
wherein, the Jacobian matrix J of the nth stepnAnd FnVector is composed of Xn-1And Yn-1Calculating to obtain;
according to an iterative formula, from step n-1 to step P1,P2,P3The coordinates of the three points calculate the nth step P1,P2,P3Coordinates of three points, approaching P gradually1,P2,P3True value (X) of three-point coordinates*,Y*)T；
Step 4, setting outlet conditions:
||(Xn,Yn)T-(Xn-1,Yn-1)T||max<precison (17)
where precision represents a given precision, different precisions can be selected depending on the actual problem, e.g. precision of 10-4mm；
Step 5, selecting an initial point:
the distance between the input points constitutes a distance vector L ═ L1,l2,l3)TWhich form a set of time series in time
L(t)t＝0,1,2,…,T (18)
Wherein the maximum time T is determined by the sampling frequency and the sampling time;
the distance vector L at any time can be calculated by applying the above calculation method to obtain a certain (X, Y):
L(t)→(X(t),Y(t))t＝0,1,2,…,T (19)
t is 0 time, and a group of P is obtained by measuring the initial position in site1,P2,P3Three point coordinates as the initial point (X) of this time iteration0(t),Y0(t)) performing an iterative calculation;
t is n time, and (X (n-1), Y (n-1)) corresponding to n-1 time is calculated; due to the continuity of motion and high sampling frequency, (X (n), Y (n)) corresponding to n time should be in the vicinity of (X (n-1), Y (n-1));
thus, by performing iterative calculations using (X (n-1), Y (n-1)) as the initial point of the calculations (X (n), Y (n)), it is possible to converge to a point that satisfies the accuracy requirement as soon as possible;
2.3 cargo plane motion attitude reduction model
And obtaining a time sequence of coordinates of any point on the goods through the goods plane motion posture reduction model so as to judge whether the maximum dynamic displacement of the goods meets the requirement. The marked point P on the goods at any moment can be obtained through the marked point position reduction model1，P2，P3And (3) solving the time sequence of the coordinates of any point on the goods by applying the time sequence of the coordinates under the x-y coordinate system.
The plane motion of the cargo can be decomposed into translation and rotation, and can be described by a translation matrix and a rotation matrix respectively. To accommodate the matrix representation of translation and rotation, one needs toTo transform the coordinates of the marker points, (x, y)TReplacement is (x, y,1)T。
Let the translation matrix be M, whose expression is:
Figure BDA0002753174910000181
let the rotation matrix be R, whose expression is:
Figure BDA0002753174910000182
for one marker point P (x, y,1)TThe new position P ' (x ', y ', 1) of the mark point can be obtained through rotation and translationT. This process is represented as:
P′＝MRP (22)
through multiplying the translation matrix M and the rotation matrix R, a translation rotation matrix H can be obtained, and the expression is as follows:
Figure BDA0002753174910000183
that is, for one marker point P (x, y,1)TObtaining a new position P ' (x ', y ', 1) of the mark point through rotation and translationTCan be represented as follows:
P′＝HP (24)
the H matrix represents the mapping of the position relation of a mark point before and after movement, and simultaneously describes the plane movement attitude of the goods, and the position of any point on the goods after movement can be calculated through the H matrix.
2.4 solving cargo plane motion attitude reduction model
The key of the cargo plane motion attitude reduction model is an H matrix, and the position of any point on the cargo after motion can be calculated after the H matrix is obtained.
By measuring before monitoring, the coordinate P of the mark point group at the initial moment of the goods under the x-y coordinate system is obtained1，P2，P3Using the mark point reduction model on the goods to obtain the coordinate P of the mark point group of the goods at a certain time under the x-y coordinate system1′，P2′，P3'. Due to the rigid body property of the goods, the mark point group at a certain time is obtained by rotating and translating the initial time mark point group, and can be represented as follows:
(P1′,P2′,P3′)＝H(P1,P2,P3) (25)
verification matrix required before calculation (P)1,P2,P3) Is reversible, i.e. verifies the determinant | of the matrix (P)1,P2,P3) And | is not 0. After verification, H can be calculated by the following formula:
H＝(P1′,P2′,P3′)(P1,P2,P3)-1 (26)
the translational rotation matrix H at a certain time can be obtained.
The time sequence of the H matrix can be obtained by applying (X), (t), Y (t)) time sequence obtained by the marker position reduction model, namely:
(X(t),Y(t))→H(t)t＝0,1,2,…,T (27)
a calculation point on the cargo is selected.
Firstly, measuring the coordinates of the calculation point in an x '-y' coordinate system, and then transforming the coordinates of the calculation point in the x '-y' coordinate system into the coordinates in the x-y coordinate system. The initial position of the calculation point in the x-y coordinate system is D, and the position at a certain time is D (t), and the relationship between the two can be expressed as:
D(t)＝H(t)Dt＝0,1,2,…,T (28)
further, the time series of the coordinates of the calculation points in the x-y coordinate system can be obtained:
D(t)t＝0,1,2,…,T (29)
and obtaining the displacement data of the calculated points.
Those not described in detail in this specification are within the skill of the art.
The above description is only a preferred embodiment of the present invention, and the scope of the present invention is not limited to the above embodiment, but equivalent modifications or changes made by those skilled in the art according to the present disclosure should be included in the scope of the present invention as set forth in the appended claims.

Claims (7)

1. The utility model provides a real-time long-range on-line monitoring system of goods displacement volume on the way of railway transportation which characterized in that includes:
the vehicle-mounted end hardware system is arranged on the railway wagon and used for acquiring safety index information;
the vehicle-mounted end hardware system transmits the acquired safety index information to a remote management system in a wireless communication mode;
the remote management system is used for analyzing the received safety index information in real time and finishing on-line monitoring;
the vehicle-mounted end hardware system comprises: the system comprises a sensor module, a power supply module, a wireless transmission module and a control unit;
a sensor module comprising:
the displacement sensor is arranged on the goods outer package and is used for acquiring goods displacement information from goods to the wagon body of the railway wagon as safety index information,
the GPS sensor is arranged in a carriage of the railway wagon, is used for acquiring the geographical position information of the goods as index information for tracking the geographical position of the goods and is used for determining the position of the railway wagon when the goods displacement index gives an alarm;
the sensor module is connected to the control unit, and the control unit is connected to the wireless transmission module;
the power supply module is connected with the control unit through a cable and used for supplying power to the whole system;
the wireless transmission module is used for communicating with the data transmission cloud platform through a wireless network;
two displacement sensors, four displacement sensors in total, are respectively arranged in the length direction and the width direction of the goods external package and are used for measuring the displacement in real time,
the first displacement sensor (1) and the second displacement sensor (2) are arranged in the width direction of the goods outer package and correspond to the y-axis direction, the y-axis coordinate values of the first displacement sensor (1) and the second displacement sensor (2) are obtained by measurement before monitoring,
the third displacement sensor (3) and the fourth displacement sensor (4) are arranged in the length direction of the outer package of the goods and correspond to the x axial direction, and the x axial coordinate values of the third displacement sensor (3) and the fourth displacement sensor (4) are obtained by measurement before monitoring;
when the goods outer package generates displacement, the four displacement sensors respectively measure a displacement value, the four displacement values and GPS data acquired by the GPS sensors are transmitted to the control unit in real time and then transmitted to the remote management system through the wireless transmission module,
a remote management system serving as a receiving terminal calculates a displacement value of any point on the cargo through a cargo plane attitude reduction model and an algorithm, and determines GPS position information through GPS data;
the cargo plane attitude reduction model and algorithm comprise:
constructing a cargo plane motion attitude model, and limiting the following cargo motion attitudes in the cargo plane motion attitude model:
(1) the z-axis coordinate value of any point on the goods is not changed;
(2) the goods can not rotate around the x axis;
(3) the goods can not rotate around the y axis;
the reduction of the plane motion attitude of the cargo is carried out according to the following steps:
(1) selecting a mark point: the mounting position of the displacement sensor on the goods is adopted as a mark point, and the corresponding position of the displacement sensor on the body of the railway wagon is a railway wagon mark point;
(2) establishing a mark point position reduction model: obtaining a time sequence of marker point positions on the cargo by the time sequence of the displacement sensor data;
(3) establishing a cargo plane motion attitude reduction model: and obtaining the position time sequence of any point on the goods through the position time sequence of the mark point on the goods.
2. The real-time remote on-line monitoring system for cargo displacement in railway transportation according to claim 1, wherein the displacement sensor is an open type ultrasonic sensor,
the GPS sensor is specifically a vehicle-mounted type GPS sensor.
3. The system for real-time remote on-line monitoring of cargo displacement during railway transportation according to claim 1, wherein the power supply module is a constant voltage type dc power supply module with a specification of 5V output voltage.
4. The system for real-time remote on-line monitoring of the displacement of cargo in transit of railway transportation according to claim 1, wherein the wireless network is a 4G wireless network.
5. The real-time remote online monitoring system for the cargo displacement in railway transportation according to claim 1, wherein the data transmission cloud platform is used for wireless data transmission between the vehicle-mounted end hardware system and the remote management system;
the data transmission cloud platform is an open platform of the PaaS Internet of things.
6. The real-time remote on-line monitoring system for cargo displacement in railway transportation according to claim 1, wherein the number of the marking points in step (1) is 8,
P1，P2，P3，P4is a marked point on the goods and is,
Q1，Q2，Q3，Q4is a marking point on the railway wagon;
before monitoring, measuring coordinates of a mark point on the goods in a coordinate system x '-y' on the goods, and transforming the coordinates in the x '-y' coordinate system into coordinates in a coordinate system x-y coordinate system on the railway wagon through coordinate transformation;
during the monitoring process, the displacement sensor collects Pi，QiDistance l between two pointsiThe set of distances acquired at any one time constitutes a distance vector L, denoted as
L＝(l1 l2 l3 l4) (2)
In the calculation, P is selected1，P2，P3And Q1，Q2，Q3As input point, P4And Q4As a checkpoint;
the goods themselves being considered rigid bodies, P1，P2，P3The distance between any two points in the three points is not changed in the monitoring process, and the distance is set as kiAnd then:
Figure FDA0003104913960000041
Figure FDA0003104913960000042
Figure FDA0003104913960000043
wherein the content of the first and second substances,
Figure FDA0003104913960000044
in the monitoring process, goods and a railway wagon move relatively, and the displacement sensor acquires P at a certain sampling frequencyiAnd QIA distance l betweeni(ii) a A set of distances l according to any one timeiAnd the coordinate Pi(xi，yi) And Qi(ai，bi) A set of equations can be obtained, namely a marker position reduction model:
Figure FDA0003104913960000045
Figure FDA0003104913960000046
Figure FDA0003104913960000051
wherein the content of the first and second substances,
Figure FDA0003104913960000052
the data of the three sets of displacement sensors are substituted into an equation set, and the numerical values of three mark points on the goods can be calculated;
the numerical solution of the equation set is solved by newton's method.
7. The real-time remote on-line monitoring system for the displacement of cargo in railway transportation according to claim 6, wherein the numerical solution of the equation set is obtained by Newton's method by the following steps:
step 1, transforming an equation set into a Newton method standard form;
step 2, constructing a Jacobian matrix of the F vector;
step 3, constructing an iterative formula;
step 4, setting outlet conditions;
and 5, selecting an initial point.
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