CN112440832B - Method and system for deducing grouping and sequencing linkage of contact net operation vehicle - Google Patents

Method and system for deducing grouping and sequencing linkage of contact net operation vehicle Download PDF

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CN112440832B
CN112440832B CN201910799186.4A CN201910799186A CN112440832B CN 112440832 B CN112440832 B CN 112440832B CN 201910799186 A CN201910799186 A CN 201910799186A CN 112440832 B CN112440832 B CN 112440832B
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vehicles
vehicle
information
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sequencing
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CN112440832A (en
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刘信风
齐世强
林杰
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Hunan Huahong Railway High Tech Development Co ltd
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Hunan Huahong Railway High Tech Development Co ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60M—POWER SUPPLY LINES, AND DEVICES ALONG RAILS, FOR ELECTRICALLY- PROPELLED VEHICLES
    • B60M1/00—Power supply lines for contact with collector on vehicle
    • B60M1/12—Trolley lines; Accessories therefor
    • B60M1/28—Manufacturing or repairing trolley lines
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61D—BODY DETAILS OR KINDS OF RAILWAY VEHICLES
    • B61D15/00—Other railway vehicles, e.g. scaffold cars; Adaptations of vehicles for use on railways
    • B61D15/08—Railway inspection trolleys
    • B61D15/12—Railway inspection trolleys power propelled
    • B61D15/125—Railway inspection trolleys power propelled for cableways
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
    • B61L15/00—Indicators provided on the vehicle or train for signalling purposes
    • B61L15/009—On-board display devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
    • B61L23/00—Control, warning or like safety means along the route or between vehicles or trains
    • B61L23/08—Control, warning or like safety means along the route or between vehicles or trains for controlling traffic in one direction only
    • B61L23/14—Control, warning or like safety means along the route or between vehicles or trains for controlling traffic in one direction only automatically operated

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  • Mechanical Engineering (AREA)
  • Manufacturing & Machinery (AREA)
  • Transportation (AREA)
  • Train Traffic Observation, Control, And Security (AREA)

Abstract

The invention discloses a method for deducing grouping, sequencing and coupling of contact net operation vehicles, which comprises the following steps: step one, when the speed of the vehicle is more than v1Meanwhile, speed information and position information of other vehicles are received, and the distance between the other vehicles and the vehicle is smaller than s1And the vehicles with the same speed are judged to be the same marshalling to obtain marshalling information; step two, receiving the position information of each train in the same marshalling train, sequencing the trains in the same marshalling by the position information of each train to obtain sequencing information, and if the distance between a train and an adjacent train in the same sequence is greater than s2Judging in the first step; step three, receiving the speed information of each vehicle in the same sequence, and judging the linkage relation among the vehicles according to the positive and negative of the speed to obtain linkage information; the invention also discloses a system for deducing grouping and sequencing linkage of the contact net operation vehicle. Compared with the prior art, the method and the device can automatically obtain the grouping, sorting and coupling information of the contact net operation vehicle, and improve the accuracy of anti-collision judgment.

Description

Method and system for deducing grouping and sequencing linkage of contact net operation vehicle
Technical Field
The invention relates to the field of railway automatic control, in particular to a method and a system for deducing grouping and sequencing linkage of an overhead line system working vehicle.
Background
The contact net operation vehicle (operation vehicle, the same below) is mainly used for the work of rail transit construction, equipment maintenance, emergency rescue, periodic inspection and the like, and the safe operation of the contact net operation vehicle relates to the smooth operation of the whole rail transit transportation system. With the increase of newly-built rail traffic lines in China, the running density of trains is increased, and the number of railway rails and lines needing to be maintained and overhauled is continuously increased, so that the number of overhead contact system operation vehicles needing to be on line is increased, and collision accidents in the operation process of the overhead contact system operation vehicles occur in a plurality of places in succession.
In the skylight operation, a plurality of contact net operation vehicles generally form marshalling and simultaneous operation. After the hook is unhooked in the operation interval, each vehicle works independently, the position and the speed information of the other vehicle cannot be accurately mastered, and the judgment is mainly carried out manually. In a tunnel, at night or under other conditions with poor visibility, collision accidents are likely to occur due to misjudgment, and unnecessary loss of property and the like is caused.
The prior art provides a braking strategy for avoiding vehicle collision in the operation process, but the initial parameters need to be manually input, the operation is troublesome, the parameter input operation is difficult to complete for an operating driver of a relatively old operating vehicle, and the error rate of the operation is high, so that the accident that the operating vehicle collides due to the error of the parameters in the operation process is still caused.
In view of the above, the inventor of the present invention has made extensive studies to obtain a method and a system for deducing grouping, sequencing and hitching of an overhead line system working vehicle.
Disclosure of Invention
The invention aims to provide a method and a system for deducing grouping and sequencing linkage of a contact network operation vehicle, which can automatically acquire grouping and sequencing linkage information of the contact network operation vehicle, provide parameter basis for anti-collision judgment among vehicles and effectively avoid collision of the contact network operation vehicle in the operation process.
The technical purpose of the invention is realized by the following technical scheme:
a method for deducing grouping and sequencing linkage of an overhead line system working vehicle comprises the following steps:
step one, when the speed of the vehicle is more than v1Meanwhile, speed information and position information of other vehicles are received, and the distance between the other vehicles and the vehicle is smaller than s1And the vehicles with equal speed are judged as the same group to obtain group information；
Step two, receiving the position information of each train in the same marshalling train, sequencing the trains in the same marshalling by the position information of each train to obtain sequencing information, and meeting the condition that the distance between two adjacent trains in each train in the same sequence is less than s2If the distance between a vehicle and its adjacent vehicle in the same sequence is greater than s2Judging in the first step;
and step three, receiving the speed information of each vehicle in the same sequence, and judging the linkage relation among the vehicles according to the positive and negative of the speed to obtain linkage information.
In a further improvement, step T1 is further included between step two and step three: when the vehicle speed is greater than v2When the vehicle passes through the sequence, the longitude and latitude information of the vehicles at two ends in the same sequence is recorded for the first time1Secondly, recording longitude and latitude information of vehicles at two ends in the same sequence;
comparing the longitudes of the two vehicles in the first record and the second record, if the longitudes change and are consistent, sequencing the vehicles in the same sequence according to the longitudes of the two vehicles at the same moment, and if the longitudes do not change consistently, repeating the step of judging; if the longitude does not change, comparing the latitudes of the two vehicles in the first record and the second record, if the latitudes change consistently, sequencing the vehicles in the same sequence according to the latitudes of the two vehicles at the same moment, and if the latitudes change inconsistently, repeating the judgment of the step; or comparing the latitudes of the two vehicles in the first record and the second record, if the latitudes change and are consistent, sequencing the vehicles in the same sequence according to the latitudes of the two vehicles at the same moment, and if the latitudes change inconsistently, repeating the judgment of the step; if the latitude does not change, comparing the longitudes of the two vehicles in the first record and the second record, if the longitudes are consistent, sequencing the vehicles in the same sequence according to the longitude of the two vehicles at the same moment, and if the longitudes are inconsistent, repeating the judgment of the step.
In each step, the position information is obtained by a GPS collector, and the vehicle speed information is obtained by a wheel diameter pulse collector.
In each step, the calculation method of the distance L between the two vehicles comprises the following steps:
acquiring longitude and latitude of the two vehicles, namely (lat1, lng1) and (lat2, lng 2);
L＝(2*sin(sqrt(pow(sin(rad(lat1)-rad(lat2)/2),2)+cos(rad(lat1))*cos(rad(lat2))*pow(sin(rad(lng1)-rad(lng2)/2),2))))*6378137.0；
the vehicle speed information v is calculated by the following method:
obtaining a pulse count value count1, a counting time1, a pulse count value count2 and a counting time 2; a single pulse distance dis;
v＝((count2-count1)*dis)/(time2-time1)。
the invention also provides a system for deducing grouping and sequencing linkage of the contact net operation vehicle, which comprises the following steps:
a grouping module for setting the vehicle speed at a speed greater than v1Meanwhile, speed information and position information of other vehicles are received, and the distance between the other vehicles and the vehicle is smaller than s1And the vehicles with the same speed are judged to be the same marshalling to obtain marshalling information;
the sorting module is used for receiving the position information of each train in the same marshalling train, sorting the trains in the same marshalling by the position information of each train to obtain sorting information, and meeting the condition that the distance between two adjacent trains in each train in the same sequence is less than s2If the distance between a vehicle and its adjacent vehicle in the same sequence is greater than s2Then entering the marshalling module for processing;
and the linkage relation judging module is used for receiving the speed information of each vehicle in the same sequence, judging the linkage relation among the vehicles according to the positive and negative of the speed and obtaining linkage information.
In a further improvement, the sequencing module and the connection relation judging module further comprise a sequence calibration module: for when the vehicle speed is greater than v2When the vehicle passes through the sequence, the longitude and latitude information of the vehicles at two ends in the same sequence is recorded for the first time1Secondly, recording longitude and latitude information of vehicles at two ends in the same sequence;
comparing the longitudes of the two vehicles in the first record and the second record, if the longitudes change and are consistent, sequencing the vehicles in the same sequence according to the longitudes of the two vehicles at the same moment, and if the longitudes do not change consistently, repeating the judgment of the module; if the longitude does not change, comparing the latitudes of the two vehicles in the first record and the second record, if the latitudes change consistently, sequencing the vehicles in the same sequence according to the latitudes of the two vehicles at the same moment, and if the latitudes change inconsistently, repeating the judgment of the module; or comparing the latitudes of the two vehicles in the first record and the second record, if the latitudes change and are consistent, sequencing the vehicles in the same sequence according to the latitudes of the two vehicles at the same moment, and if the latitudes change inconsistently, repeating the judgment of the module; if the latitude does not change, comparing the longitudes of the two vehicles in the first record and the second record, if the longitudes are consistent, sequencing the vehicles in the same sequence according to the longitudes of the two vehicles at the same moment, and if the longitudes are inconsistent, repeating the judgment of the module.
In each module, the position information is obtained by a GPS collector, and the speed information is obtained by a wheel diameter pulse collector.
In each module, the calculation method of the distance L between the two vehicles is as follows:
acquiring longitude and latitude of the two vehicles, namely (lat1, lng1) and (lat2, lng 2);
L＝(2*sin(sqrt(pow(sin(rad(lat1)-rad(lat2)/2),2)+cos(rad(lat1))*cos(rad(lat2))*pow(sin(rad(lng1)-rad(lng2)/2),2))))*6378137.0；
the vehicle speed information v is calculated by the following method:
obtaining a pulse count value count1, a counting time1, a pulse count value count2 and a counting time 2; a single pulse distance dis;
v＝((count2-count1)*dis)/(time2-time1)。
compared with the prior art, the method and the system for deducing the grouping, sorting and coupling of the contact network operation vehicle can automatically obtain the grouping, sorting and coupling information of the contact network operation vehicle, thereby providing a parameter basis for anti-collision judgment, having high accuracy and efficiency, reducing the labor burden and effectively avoiding manual input errors.
Drawings
Fig. 1 is a schematic structural diagram of a catenary working vehicle to which the method and the system for deriving the grouping, sorting and hitching of catenary working vehicles are applied.
Fig. 2 is a system architecture diagram applied to a method and a system for deducing grouping and sequencing linkage of an overhead line system working vehicle.
In the figure:
an industrial personal computer-1; a data transmission radio station-2; a GPS collector-3; wheel diameter pulse collector-4; display screen-5.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
The present embodiment is only for explaining the present invention, and it is not limited to the present invention, and those skilled in the art can make modifications of the present embodiment without inventive contribution as needed after reading the present specification, but all of them are protected by patent law within the scope of the claims of the present invention.
The operation process of the contact net operation vehicle is as follows:
the first stage is as follows: at least two contact net operation vehicles are driven out of the storehouse in a connected mode and go to an operation place;
and a second stage: the contact net operation vehicle arrives at the operation place, and each contact net operation vehicle independently operates after unhooking, and in the operation process, collision avoidance judgment needs to be carried out.
The method for deriving the grouping, sorting and linking information of the catenary working vehicle provided by the embodiment is applied to the first stage, and the grouping information, the sorting information and the linking information are derived in the process of the first stage, and specifically as follows:
a method for deducing grouping and sequencing linkage of an overhead line system working vehicle comprises the following steps:
step one, when the speed of the vehicle is more than v1In time, receive the speed information of other vehiclesInformation of position, and the distance between the other vehicles and the vehicle is less than s1And the vehicles with equal speed are judged as the same group to obtain group information, v1Preferably 3km/h, s1Preferably 500 m;
step two, receiving the position information of each train in the same marshalling train, sequencing the trains in the same marshalling by the position information of each train to obtain sequencing information, and meeting the condition that the distance between two adjacent trains in each train in the same sequence is less than s2If the distance between a vehicle and its adjacent vehicle in the same sequence is greater than s2Then the judgment of the step one is carried out, the step s2Preferably 50 m;
and step three, receiving the speed information of each vehicle in the same sequence, and judging the linkage relation among the vehicles according to the positive and negative of the speed to obtain linkage information.
Specifically, if four overhead line system operation vehicles exist on the track, wherein the speed of the vehicle is greater than 3km/h, the speed information and the position information of the other three vehicles are received, the vehicles which are less than 500m away from the vehicle and have the same speed are judged to be the same group, and if the other three vehicles all meet the conditions, the vehicles and the vehicle are judged to be the same group, so that the group formation information is obtained; secondly, the vehicle receives the position information of the other three vehicles in the same grouping, the vehicles are sorted according to the position relationship, the vehicles may be sorted into 1, 2, 3, 4 or 4, 3, 2, 1 as the sorting information because no sorting direction exists, and the four sorted vehicles must meet the condition that the distance between the four sorted vehicles and the adjacent vehicle is less than 50m, if the distance between one vehicle and the adjacent vehicle is more than 50m, the vehicle is executed from the beginning in the first step until all the vehicles in the same grouping meet the condition; and after the sorting is finished, performing the third step, and determining the coupling relation between the two adjacent contact net operation vehicles according to the speed direction of each vehicle in the same sequence. It should be noted that: the catenary working vehicle generally has two operation platforms for driving the catenary working vehicle in different directions, and the two ends of the catenary working vehicle are generally divided into an end i and an end ii
Step T1 is also included between the step two and the step three: when the vehicle speed is greater than v2When the vehicle passes through the sequence, the longitude and latitude information of the vehicles at two ends in the same sequence is recorded for the first time1Secondly, recording longitude and latitude information of vehicles at two ends in the same sequence;
comparing the longitudes of the two vehicles in the first record and the second record, if the longitudes change and are consistent, sequencing the vehicles in the same sequence according to the longitudes of the two vehicles at the same moment, and if the longitudes do not change consistently, repeating the step of judging; if the longitude does not change, comparing the latitudes of the two vehicles in the first record and the second record, if the latitudes change consistently, sequencing the vehicles in the same sequence according to the latitudes of the two vehicles at the same moment, and if the latitudes change inconsistently, repeating the judgment of the step; or comparing the latitudes of the two vehicles in the first record and the second record, if the latitudes change and are consistent, sequencing the vehicles in the same sequence according to the latitudes of the two vehicles at the same moment, and if the latitudes change inconsistently, repeating the judgment of the step; if the latitude does not change, comparing the longitudes of the two vehicles in the first record and the second record, if the longitudes are consistent, sequencing the vehicles in the same sequence according to the longitude of the two vehicles at the same moment, and if the longitudes are inconsistent, repeating the judgment of the step.
The consistent longitude change or the consistent latitude change means that the longitudes or latitudes of the two vehicles become larger or smaller at the same time.
Through the step T1, the order of the vehicles is consistent with the actual vehicle traveling order, which solves the problem that the order information obtained in the step two is uncertain, i.e. the order may be 1, 2, 3, 4, or may be 4, 3, 2, 1, and after the T1, the order can be confirmed to be consistent with the actual traveling direction of the vehicles.
In each of the above steps, the position information is obtained by a GPS collector, and the vehicle speed information is obtained by a wheel diameter pulse collector, as shown in fig. 1, the GPS collector 3 is installed on the roof of the vehicle to collect GPS data, and the wheel diameter pulse collector 4 is installed on the wheel of the vehicle to perform cumulative calculation of the number of revolutions of the wheel.
In an application example, a display 5, an industrial personal computer 1 and a data transmission radio station 2 are further arranged on the overhead line work vehicle, as shown in fig. 1, the data transmission radio station 2 is mounted on the roof of the vehicle and used for sending information of the vehicle to the outside and receiving information sent by other vehicles, the industrial personal computer 1 is mounted on the vehicle body and used for carrying out logic calculation on the information and determining vehicle grouping, sequencing and connection relations, and the display 5 is used for displaying related data information; the display 5, industrial computer 1, data radio 2, GPS collector 3 and wheel footpath pulse collector 4's relation of connection is shown in fig. 2, utilizes industrial computer 1 and data radio 2, and each car can carry out independent judgement, and need not control through always controlling to avoid always controlling and the error risk that takes place signal interruption or delay between each car, limited assurance the stability and the security of operation.
In each step, the calculation method of the distance L between the two vehicles comprises the following steps:
acquiring longitude and latitude of the two vehicles, namely (lat1, lng1) and (lat2, lng 2);
L＝(2*sin(sqrt(pow(sin(rad(lat1)-rad(lat2)/2),2)+cos(rad(lat1))*cos(rad(lat2))*pow(sin(rad(lng1)-rad(lng2)/2),2))))*6378137.0；
the vehicle speed information v is calculated by the following method:
obtaining a pulse count value count1, a counting time1, a pulse count value count2 and a counting time 2; a single pulse distance dis;
v＝((count2-count1)*dis)/(time2-time1)。
after the marshalling, sequencing and coupling information are obtained, the contact net operation vehicle can perform collision avoidance according to the parameters, and the specific reference is made to the patent application with the application number of 201810049900.3.
The embodiment also provides a system for deducing grouping and sequencing linkage of an overhead line system working vehicle, which comprises:
a marshalling module for inThe speed of the vehicle is greater than v1Meanwhile, speed information and position information of other vehicles are received, and the distance between the other vehicles and the vehicle is smaller than s1And the vehicles with equal speed are judged as the same group to obtain group information, v1Preferably 3km/h, s1Preferably 500 m;
the sorting module is used for receiving the position information of each train in the same marshalling train, sorting the trains in the same marshalling by the position information of each train to obtain sorting information, and meeting the condition that the distance between two adjacent trains in each train in the same sequence is less than s2If the distance between a vehicle and its adjacent vehicle in the same sequence is greater than s2Then entering the grouping module for processing, and the step s2Preferably 50 m;
and the linkage relation judging module is used for receiving the speed information of each vehicle in the same sequence, judging the linkage relation among the vehicles according to the positive and negative of the speed and obtaining linkage information.
The sequencing module and the connection relation judging module further comprise a sequence calibration module: for when the vehicle speed is greater than v2When the vehicle passes through the sequence, the longitude and latitude information of the vehicles at two ends in the same sequence is recorded for the first time1Secondly, recording longitude and latitude information of vehicles at two ends in the same sequence;
comparing the longitudes of the two vehicles in the first record and the second record, if the longitudes change and are consistent, sequencing the vehicles in the same sequence according to the longitudes of the two vehicles at the same moment, and if the longitudes do not change consistently, repeating the judgment of the module; if the longitude does not change, comparing the latitudes of the two vehicles in the first record and the second record, if the latitudes change consistently, sequencing the vehicles in the same sequence according to the latitudes of the two vehicles at the same moment, and if the latitudes change inconsistently, repeating the judgment of the module; or comparing the latitudes of the two vehicles in the first record and the second record, if the latitudes change and are consistent, sequencing the vehicles in the same sequence according to the latitudes of the two vehicles at the same moment, and if the latitudes change inconsistently, repeating the judgment of the module; if the latitude does not change, comparing the longitudes of the two vehicles in the first record and the second record, if the longitudes are consistent, sequencing the vehicles in the same sequence according to the longitudes of the two vehicles at the same moment, and if the longitudes are inconsistent, repeating the judgment of the module.
In each module, the position information is obtained by a GPS collector, and the vehicle speed information is obtained by a wheel diameter pulse collector.
In each module, the calculation method of the distance L between the two vehicles comprises the following steps:
acquiring longitude and latitude of the two vehicles, namely (lat1, lng1) and (lat2, lng 2);
L＝(2*sin(sqrt(pow(sin(rad(lat1)-rad(lat2)/2),2)+cos(rad(lat1))*cos(rad(lat2))*pow(sin(rad(lng1)-rad(lng2)/2),2))))*6378137.0；
the vehicle speed information v is calculated by the following method:
obtaining a pulse count value count1, a counting time1, a pulse count value count2 and a counting time 2; a single pulse distance dis;
v＝((count2-count1)*dis)/(time2-time1)。
the foregoing description of the embodiments is provided to facilitate an understanding and use of the invention and it will be apparent to those skilled in the art that various modifications to the embodiments and the generic principles defined herein may be applied to other embodiments without the use of inventive faculty. Therefore, the present invention is not limited to the above embodiments, and those skilled in the art should make improvements and modifications within the scope of the present invention based on the disclosure of the present invention.

Claims (6)

1. A method for deducing grouping and sequencing linkage of an overhead line system working vehicle is characterized by comprising the following steps:
step one, when the speed of the vehicle is more than v1Meanwhile, speed information and position information of other vehicles are received, and the distance between the other vehicles and the vehicle is smaller than s1And the vehicles with the same speed are judged to be the same marshalling to obtain marshalling information;
step two, receiving the position information of each train in the same marshalling train,the vehicles in the same group are sorted according to the position information of the vehicles to obtain sorting information, and the requirement that the distance between two adjacent vehicles in the same sequence is less than s is met2If the distance between a vehicle and its adjacent vehicle in the same sequence is greater than s2Judging in the first step;
step three, receiving the speed information of each vehicle in the same sequence, and judging the linkage relation among the vehicles according to the positive and negative of the speed to obtain linkage information;
step T1 is also included between the step two and the step three: when the vehicle speed is greater than v2When the vehicle passes through the sequence, the longitude and latitude information of the vehicles at two ends in the same sequence is recorded for the first time1Secondly, recording longitude and latitude information of vehicles at two ends in the same sequence;
comparing the longitudes of the two vehicles in the first record and the second record, if the longitudes change and are consistent, sequencing the vehicles in the same sequence according to the longitudes of the two vehicles at the same moment, and if the longitudes do not change consistently, repeating the step of judging; if the longitude does not change, comparing the latitudes of the two vehicles in the first record and the second record, if the latitudes change consistently, sequencing the vehicles in the same sequence according to the latitudes of the two vehicles at the same moment, and if the latitudes change inconsistently, repeating the judgment of the step; or comparing the latitudes of the two vehicles in the first record and the second record, if the latitudes change and are consistent, sequencing the vehicles in the same sequence according to the latitudes of the two vehicles at the same moment, and if the latitudes change inconsistently, repeating the judgment of the step; if the latitude does not change, comparing the longitudes of the two vehicles in the first record and the second record, if the longitudes are consistent, sequencing the vehicles in the same sequence according to the longitude of the two vehicles at the same moment, and if the longitudes are inconsistent, repeating the judgment of the step.
2. The method for deducing the grouping, sequencing and coupling of the catenary working vehicle as claimed in claim 1, wherein in each step, the position information is obtained by a GPS (global positioning system) collector, and the vehicle speed information is obtained by a wheel diameter pulse collector.
3. The method for deducing the grouping, sequencing and hitching of the catenary working vehicle as claimed in claim 2, wherein in each step, the distance L between the two vehicles is calculated by the following method:
acquiring longitude and latitude of the two vehicles, namely (lat1, lng1) and (lat2, lng 2);
L＝(2*sin(sqrt(pow(sin(rad(lat1)-rad(lat2)/2),2)+cos(rad(lat1))*cos(rad(lat2))*pow(sin(rad(lng1)-rad(lng2)/2),2))))*6378137.0；
the vehicle speed information v is calculated by the following method:
obtaining a pulse count value count1, a counting time1, a pulse count value count2 and a counting time 2; a single pulse distance dis;
v＝((count2-count1)*dis)/(time2-time1)。
4. the utility model provides a system for deduce contact net operation car marshalling sequencing even string which characterized in that includes:
a grouping module for setting the vehicle speed at a speed greater than v1Meanwhile, speed information and position information of other vehicles are received, and the distance between the other vehicles and the vehicle is smaller than s1And the vehicles with the same speed are judged to be the same marshalling to obtain marshalling information;
the sorting module is used for receiving the position information of each train in the same marshalling train, sorting the trains in the same marshalling by the position information of each train to obtain sorting information, and meeting the condition that the distance between two adjacent trains in each train in the same sequence is less than s2If the distance between a vehicle and its adjacent vehicle in the same sequence is greater than s2Then entering the marshalling module for processing;
the linkage relation judging module is used for receiving the speed information of each vehicle in the same sequence, judging the linkage relation among the vehicles according to the positive and negative of the speed, and obtaining linkage information;
the sequencing module and the connection relation judging module further comprise a sequence calibration module: for when the vehicle speed is greater than v2When the first time, the warp of the two end cars in the same sequence is recordedLatitude information, passing t1Secondly, recording longitude and latitude information of vehicles at two ends in the same sequence;
comparing the longitudes of the two vehicles in the first record and the second record, if the longitudes change and are consistent, sequencing the vehicles in the same sequence according to the longitudes of the two vehicles at the same moment, and if the longitudes do not change consistently, repeating the judgment of the module; if the longitude does not change, comparing the latitudes of the two vehicles in the first record and the second record, if the latitudes change consistently, sequencing the vehicles in the same sequence according to the latitudes of the two vehicles at the same moment, and if the latitudes change inconsistently, repeating the judgment of the module; or comparing the latitudes of the two vehicles in the first record and the second record, if the latitudes change and are consistent, sequencing the vehicles in the same sequence according to the latitudes of the two vehicles at the same moment, and if the latitudes change inconsistently, repeating the judgment of the module; if the latitude does not change, comparing the longitudes of the two vehicles in the first record and the second record, if the longitudes are consistent, sequencing the vehicles in the same sequence according to the longitudes of the two vehicles at the same moment, and if the longitudes are inconsistent, repeating the judgment of the module.
5. The system for deducing the grouping, sequencing and coupling of the catenary working vehicle as claimed in claim 4, wherein in each module, the position information is obtained by a GPS (global positioning system) collector, and the vehicle speed information is obtained by a wheel diameter pulse collector.
6. The system for deducing the grouping, sequencing and hitching of the catenary working vehicle as claimed in claim 5, wherein in each module, the distance L between two vehicles is calculated by the following method:
acquiring longitude and latitude of the two vehicles, namely (lat1, lng1) and (lat2, lng 2);
L＝(2*sin(sqrt(pow(sin(rad(lat1)-rad(lat2)/2),2)+cos(rad(lat1))*cos(rad(lat2))*pow(sin(rad(lng1)-rad(lng2)/2),2))))*6378137.0；
the vehicle speed information v is calculated by the following method:
obtaining a pulse count value count1, a counting time1, a pulse count value count2 and a counting time 2; a single pulse distance dis;
v＝((count2-count1)*dis)/(time2-time1)。
CN201910799186.4A 2019-08-28 2019-08-28 Method and system for deducing grouping and sequencing linkage of contact net operation vehicle Active CN112440832B (en)

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