CN112455505A - Method and device for tracking and positioning ladle locomotive - Google Patents
Method and device for tracking and positioning ladle locomotive Download PDFInfo
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- 230000003137 locomotive effect Effects 0.000 title claims abstract description 99
- 238000000034 method Methods 0.000 title claims abstract description 47
- 230000006698 induction Effects 0.000 claims abstract description 97
- 238000009628 steelmaking Methods 0.000 claims description 30
- 229910000831 Steel Inorganic materials 0.000 claims description 22
- 239000010959 steel Substances 0.000 claims description 22
- 238000004590 computer program Methods 0.000 claims description 10
- 229910000805 Pig iron Inorganic materials 0.000 claims description 4
- 238000003860 storage Methods 0.000 claims description 3
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- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 abstract description 28
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L25/00—Recording or indicating positions or identities of vehicles or trains or setting of track apparatus
- B61L25/02—Indicating or recording positions or identities of vehicles or trains
- B61L25/026—Relative localisation, e.g. using odometer
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B22—CASTING; POWDER METALLURGY
- B22D—CASTING OF METALS; CASTING OF OTHER SUBSTANCES BY THE SAME PROCESSES OR DEVICES
- B22D41/00—Casting melt-holding vessels, e.g. ladles, tundishes, cups or the like
- B22D41/12—Travelling ladles or similar containers; Cars for ladles
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
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Abstract
The invention relates to the technical field of positioning, in particular to a method and a device for tracking and positioning an iron ladle locomotive, wherein the method comprises the following steps: when the iron-clad locomotive runs to a railway transportation area, positioning the position of the iron-clad locomotive through a GNSS antenna to obtain a first positioning coordinate; displaying the first positioning coordinate through a tracking display interface map; when the ladle locomotive runs onto the target induction magnetic scale, acquiring a first screen coordinate and a second screen coordinate of two ends of the target induction magnetic scale on the tracking display interface map respectively; obtaining the scanning length of the induction magnetic scale reader on the target induction magnetic scale; determining a third screen coordinate of the ladle locomotive on the tracking display interface map based on the first screen coordinate, the second screen coordinate, the scanning length and the actual length; and displaying the coordinate of the third screen on a tracking display interface map, realizing the accurate positioning of the ladle locomotive and providing a basis for the quality tracing of products.
Description
Technical Field
The invention relates to the technical field of positioning, in particular to a method and a device for tracking and positioning a ladle locomotive.
Background
In iron and steel enterprises, iron making-steel making connection is an important link, an iron and steel cooperation link relates to a plurality of posts and departments, the flow is more, the interaction is more complicated, the information acquisition and interaction of a locomotive and an iron ladle are difficult, and if the information of each department is asymmetric, the information of the position, the state and the like of the locomotive and the iron ladle can not be mastered in real time by steel dispatching, so that the unreasonable iron receiving and distribution of empty ladles and molten iron distribution are easily caused, the molten iron dispatching is not matched with the realization of production, and the waste of resources and energy is caused.
When the steel product is unqualified, the quality of the product needs to be traced, particularly due to specific heat molten steel, the molten steel is smelted by taking molten iron as a raw material, the quality of the molten iron can be traced, and the tracking of an iron ladle can track the information of the molten iron fed into the furnace per ladle, so that the tracing of the steel product becomes possible.
However, due to the variety of steel transportation environments and the harsh environment, accurate positioning cannot be achieved by tracking the iron ladle.
Disclosure of Invention
In view of the above, the present invention has been developed to provide a method and apparatus for tracking and locating a pig iron locomotive that overcomes, or at least partially solves, the above-mentioned problems.
In a first aspect, the present invention provides a method for tracking and positioning a ladle locomotive, where a transportation area of the ladle locomotive includes a railway transportation area outside a blast furnace and outside a steel plant and a rail transportation area below the blast furnace and inside the steel plant, an induction magnetic scale reader and a GNSS antenna are installed on the ladle locomotive, and a plurality of induction magnetic scales are installed in the rail transportation area, including:
when the ladle locomotive runs to the railway transportation area, the position of the ladle locomotive is located through the GNSS antenna, and a first locating coordinate is obtained;
displaying the first positioning coordinate through a tracking display interface map so as to realize tracking and positioning outside the blast furnace and the steel-making factory building;
when the ladle locomotive runs onto a target induction magnetic scale, acquiring a first screen coordinate and a second screen coordinate of two ends of the target induction magnetic scale on a tracking display interface map respectively;
acquiring the scanning length of the induction magnetic scale reader on the target induction magnetic scale based on the read data of the induction magnetic scale reader;
determining a third screen coordinate of the ladle locomotive on the tracking display interface map based on the first screen coordinate, the second screen coordinate, the scanning length and the actual length of the target induction magnetic scale;
and displaying the third screen coordinate on the tracking display interface map so as to realize tracking and positioning under the blast furnace and in the steel-making factory building.
Further, the determining a third screen coordinate of the railcar on the tracking presentation interface map based on the first screen coordinate, the second screen coordinate, the scan length, and the actual length of the target induction magnetic scale includes:
determining a third screen coordinate of the ladle locomotive on the tracking display interface map according to the following formula based on the first screen coordinate, the second screen coordinate, the scanning length and the actual length of the target induction magnetic scale:
wherein (x)s,ys) And (x)e,ye) The first screen coordinate and the second screen coordinate are included, N is the actual length of the target induction magnetic scale, and M is the scanning length.
Further, before the GNSS antenna is used to locate the position of the ladle car to obtain the first location coordinate, the method further includes:
acquiring GNSS positioning data at two ends of each section of the railway transportation area;
selecting an end point of a target section, and taking the end point of the target section as a reference point;
acquiring relative positioning data of key points on the railway transportation area relative to the reference points, and converting the relative positioning data into fourth screen coordinates on the tracking display interface map;
and obtaining the tracking display interface map of the railway transportation area and the track transportation area based on the fourth screen coordinate.
Further, the positioning the position of the ladle locomotive through the GNSS antenna to obtain a first positioning coordinate further includes:
judging whether the surrounding sections of the first positioning coordinate are occupied or not;
when occupied, selecting the section with the nearest distance;
acquiring positioning data at two ends of the nearest section as a second positioning coordinate and a third positioning coordinate;
and correcting the first positioning coordinate based on the first positioning coordinate, the second positioning coordinate and the third positioning coordinate to obtain a corrected fourth positioning coordinate.
Further, the correcting the first positioning coordinate based on the first positioning coordinate, the second positioning coordinate and the third positioning coordinate to obtain a corrected fourth positioning coordinate includes:
based on the first positioning coordinate, the second positioning coordinate and the third positioning coordinate, correcting the first positioning coordinate according to the following formula to obtain a corrected fourth positioning coordinate:
wherein (J)t,Wt) Is the first location coordinate, (J)e,We)、(Js,Ws) The second and third positioning coordinates, (J) respectivelyΔt,WΔt) And k is a deviation correction coefficient for the fourth positioning coordinate.
Further, after the correcting the first positioning coordinate based on the first positioning coordinate, the second positioning coordinate and the third positioning coordinate to obtain a corrected fourth positioning coordinate, the method further includes:
and converting the fourth positioning coordinate into a fifth screen coordinate on the tracking display interface map.
Further, the converting the fourth positioning coordinate into a fifth screen coordinate on the tracking display interface map includes:
acquiring a sixth screen coordinate and a seventh screen coordinate of the second positioning coordinate and the third positioning coordinate at two ends of the nearest section on the tracking display interface map;
based on the second positioning coordinate, the third positioning coordinate, the sixth screen coordinate, the seventh screen coordinate, and the fourth positioning coordinate, converting the fourth positioning coordinate into a fifth screen coordinate on the tracking display interface map according to the following formula:
wherein (x)s,ys)、(xe,ye) (J) said sixth screen coordinate and said seventh screen coordinate, respectivelye,We)、(Js,Ws) The second and third positioning coordinates, (J) respectivelyΔt,WΔt) The fourth positioning coordinates.
In a second aspect, the present invention provides a device for tracking and positioning a ladle locomotive, where a transportation area of the ladle locomotive includes a railway transportation area outside a blast furnace and outside a steel plant and a rail transportation area below the blast furnace and inside the steel plant, an induction magnetic scale reader and a GNSS antenna are installed on the ladle locomotive, and a plurality of induction magnetic scales are installed in the rail transportation area, including:
the first positioning module is used for positioning the position of the iron-clad locomotive through the GNSS antenna when the iron-clad locomotive runs to the railway transportation area to obtain a first positioning coordinate;
the first display module is used for displaying the first positioning coordinate through a tracking display interface map so as to realize tracking and positioning outside the blast furnace and the steel-making factory building;
the first acquisition module is used for acquiring a first screen coordinate and a second screen coordinate of two ends of a target induction magnetic scale on the tracking display interface map when the ladle locomotive runs onto the target induction magnetic scale;
the first obtaining module is used for obtaining the scanning length of the induction magnetic scale reader on the target induction magnetic scale based on the read data of the induction magnetic scale reader;
the determining module is used for determining a third screen coordinate of the ladle locomotive on the tracking display interface map based on the first screen coordinate, the second screen coordinate, the scanning length and the actual length of the target induction magnetic scale;
and the second display module is used for displaying the third screen coordinate on the tracking display interface map so as to realize tracking and positioning under the blast furnace and in the steel-making factory building.
In a third aspect, the present invention also provides an electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the above-mentioned method steps when executing the program.
In a fourth aspect, the invention also provides a computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the above-mentioned method steps.
One or more technical solutions in the embodiments of the present invention have at least the following technical effects or advantages:
the invention provides a method for tracking and positioning an iron-clad locomotive, wherein the transportation area of the iron-clad locomotive comprises a railway transportation area outside a blast furnace and a steel-making factory building and a rail transportation area below the blast furnace and in the steel-making factory building, an induction magnetic scale reader and a GNSS antenna are arranged on the iron-clad locomotive, a plurality of induction magnetic scales are arranged in the rail transportation area, and the method comprises the following steps: when the iron-clad locomotive runs to a railway transportation area, positioning the position of the iron-clad locomotive through a GNSS antenna to obtain a first positioning coordinate; displaying the first positioning coordinate through a tracking display interface map so as to realize tracking and positioning outside the blast furnace and the steel-making factory building; when the ladle locomotive runs onto the target induction magnetic scale, acquiring a first screen coordinate and a second screen coordinate of two ends of the target induction magnetic scale on the tracking display interface map respectively; acquiring the scanning length of the induction magnetic scale reader on the target induction magnetic scale based on the read data of the induction magnetic scale reader; and determining a third screen coordinate of the ladle locomotive on the tracking display interface map based on the first screen coordinate, the second screen coordinate, the scanning length and the actual length of the target induction magnetic scale, and displaying the third screen coordinate on the tracking display interface map, so that the accurate positioning of the ladle locomotive is realized under the condition of severe environment, and a basis is provided for the quality tracing of products.
Drawings
Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention. Also, like reference numerals are used to refer to like parts throughout the drawings. In the drawings:
FIG. 1 is a flow chart illustrating the steps of a method for tracking and positioning a ladle locomotive according to a first embodiment of the present invention;
FIG. 2 is a schematic structural diagram illustrating a device for tracking and positioning a ladle locomotive according to a second embodiment of the present invention;
fig. 3 is a schematic structural diagram of an electronic device for implementing a method for tracking and positioning a ladle locomotive according to a third embodiment of the present invention.
Detailed Description
Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
Example one
The embodiment of the invention provides a method for tracking and positioning an iron-clad locomotive, wherein the transportation area of the iron-clad locomotive comprises a railway transportation area outside a blast furnace and outside a steel-making factory building and a track transportation area below the blast furnace and inside the steel-making factory building, wherein in the railway transportation area outside the blast furnace and outside the steel-making factory building, because the environment is open and can receive positioning signals, GNSS (global navigation satellite system) positioning is adopted in the railway transportation area outside the blast furnace and outside the steel-making factory building. The rail transport region under the blast furnace and in the steel plant can not adopt GNSS location due to sheltering from of the plant and the like, so that the induction magnetic scale is adopted to track and locate, and dynamic accurate location under the blast furnace and outside the steel plant is realized.
Firstly, a plurality of induction magnetic scales are arranged in a rail transportation area below a blast furnace and in a steel-making factory building, and an induction magnetic scale reader and a GNSS antenna are arranged on an iron-clad locomotive.
The invention provides a method for tracking and positioning a ladle locomotive, which comprises the following steps as shown in figure 1:
s101, when the ladle locomotive runs to a railway transportation area, the position of the ladle locomotive is located through a GNSS antenna, and a first locating coordinate is obtained.
And S102, displaying the first positioning coordinate through a tracking display interface map so as to realize tracking and positioning outside the blast furnace and the steel-making factory building.
S103, when the ladle locomotive runs to the target induction magnetic scale, acquiring a first screen coordinate and a second screen coordinate of two ends of the target induction magnetic scale on the tracking display interface map respectively.
And S104, acquiring the scanning length of the induction magnetic scale reader on the target induction magnetic scale based on the read data of the induction magnetic scale reader.
And S105, determining a third screen coordinate of the ladle locomotive on the tracking display interface map based on the first screen coordinate, the second screen coordinate, the scanning length and the actual length of the target induction magnetic scale.
And S106, displaying the coordinate of the third screen on the tracking display interface map so as to realize the tracking and positioning under the blast furnace and in the steel-making factory building.
Specifically, before S101, that is, before the position of the ladle locomotive is located by the GNSS antenna, and the first positioning coordinate is obtained, positioning information of a railway transportation area outside the blast furnace and the steel plant and a track transportation area below the blast furnace and inside the steel plant needs to be converted into a screen coordinate on the tracking display interface map.
Therefore, firstly, in the railway transportation area, a GNSS base station is installed at a preset height, which is higher than the height of the railcar, so that the GNSS base station can receive positioning data of all the railcar in operation, and a pair of GNSS antennas is arranged on the railcar and used for receiving position information of GNSS and sending out position signals of GNSS.
Secondly, GNSS positioning data at two ends of each section of the railway transportation area are obtained; then, selecting an end point of the target section, taking the end point of the target section as a reference point, and setting the coordinate of the reference point as (0, 0) on the tracking display interface map.
Relative positioning data of the key points on the rail transport area relative to the reference point is then obtained and converted to fourth screen coordinates on the tracking interface.
The key points are specifically signal lamps, starting points and end points of all sections, turnouts and the like, actual coordinates of the key points are converted to the tracking display interface map, and fourth screen coordinates of the key points are obtained.
After obtaining the fourth screen coordinates, obtaining a tracking display interface map of the railway transportation area and the rail transportation area based on the fourth screen coordinates. The screen coordinates of each key point are displayed on the tracking display interface map and comprise screen coordinates at two ends of an induction magnetic scale arranged below a blast furnace and on a rail transportation area in a steel-making factory building.
Therefore, screen coordinates corresponding to the railway transportation area and the rail transportation area are obtained through the obtained tracking display interface map. And will not be described in detail herein.
In the railway transportation area outside the blast furnace and outside the steel plant, S101: when the iron-clad locomotive runs to a railway transportation area, the position of the iron-clad locomotive is located through the GNSS antenna, and a first locating coordinate is obtained.
Based on the positioning of the GNSS antenna, a first positioning coordinate of the ladle locomotive in the railway transportation area is obtained, and the positioning coordinate is used for positioning the ladle locomotive in the railway transportation areaThe first positioning coordinate is actual longitude and latitude information, the positioning point is recorded as t, and the first positioning coordinate is (J)t,Wt)。
In an alternative embodiment, S102 is executed to display the first positioning coordinate through a tracking display interface map, so as to achieve tracking and positioning outside the blast furnace and outside the steel making factory building.
However, because the accuracy of the positioning effect of the GNSS positioning technology is not high, the GNSS positioning information can be corrected to improve the positioning accuracy. Therefore, after S101, the method further includes:
and judging whether the surrounding area of the first positioning coordinate is occupied or not. When occupied, the section closest to the first positioning coordinate is selected, of course, only one section in the surrounding sections of the first positioning coordinate may be occupied, and of course, a plurality of sections may be occupied.
When one section is occupied, acquiring positioning coordinates of two ends of the section; when a plurality of sections are occupied, the positioning coordinates of both ends of a section closest to the positioning point of the first positioning coordinate among the sections are acquired.
Specifically, the positioning data of both ends of the nearest section are acquired as a second positioning coordinate and a third positioning coordinate. And finally, correcting the first positioning coordinate based on the first positioning coordinate, the second positioning coordinate and the third positioning coordinate to obtain a corrected fourth positioning coordinate.
Specifically, the following formula is adopted to correct the first positioning coordinate, and a corrected fourth positioning coordinate is obtained:
wherein (J)t,Wt) Is a first location coordinate, (J)e,We)、(Js,Ws) Respectively, a second positioning coordinate and a third positioning coordinate, (J)Δt,WΔt) Is the fourth positioning coordinate, and k is the deviation correction coefficient.
The positioning coordinate is corrected by adopting the correction mode, so that the coordinate deviation condition generated in GNSS positioning is avoided, and the positioning precision of the railway transportation area is higher.
After the corrected fourth positioning coordinate is obtained, the method further comprises the following steps: and converting the fourth positioning coordinate into a fifth screen coordinate on the tracking and displaying interface map.
In a specific implementation manner, a sixth screen coordinate and a seventh screen coordinate of two ends of the nearest segment on the tracking display interface map are obtained, and then, a fifth screen coordinate of the corrected fourth positioning coordinate on the tracking display interface map is obtained based on the sixth screen coordinate, the seventh screen coordinate and the corrected fourth positioning coordinate.
Specifically, the fifth screen coordinate of the corrected fourth positioning coordinate on the tracking display interface map is obtained by adopting the following formula:
wherein (x)s,ys)、(xe,ye) Sixth and seventh screen coordinates, (J), respectivelye,We)、(Js,Ws) Respectively, a second positioning coordinate and a third positioning coordinate, (J)Δt,WΔt) And the corrected fourth positioning coordinate is obtained.
Therefore, the corrected fourth positioning coordinate is converted to a tracking display interface map, and a corresponding fifth screen coordinate is obtained.
The above is the process of locating in the railway transportation area and presenting the location in the tracking presentation interface map.
The positioning of the induction magnetic scale used when the pig car is moving to the rail transport area is described in detail below.
And S103, when the ladle locomotive runs to the target induction magnetic scale, acquiring a first screen coordinate and a second screen coordinate of two ends of the target induction magnetic scale on the tracking display interface map respectively.
Specifically, according to the obtained tracking display interface map, the actual coordinates of the two ends of the target induction magnetic scale are converted to the tracking display interface map, and corresponding first screen coordinates and second screen coordinates are obtained.
Next, S104 is executed to obtain a scanning length of the induction magnetic scale reader on the target induction magnetic scale based on the read data read by the induction magnetic scale.
For example, when the ladle locomotive runs to the target induction magnetic scale with the number of 0001, the distance from the head end of the target induction magnetic scale to the current position of the ladle locomotive is the scanning length of the induction magnetic scale reader on the target induction magnetic scale.
Then, S105 is executed, and based on the first screen coordinate, the second screen coordinate, the scanning length and the actual length of the target induction magnetic scale, a third screen coordinate of the ladle locomotive on the tracking and displaying interface map is determined according to the following formula:
wherein (x)s,ys) And (x)e,ye) Respectively a first screen coordinate and a second screen coordinate, N is a meshThe actual length of the scale induction magnetic scale is marked, and M is the scanning length. The actual length of the target induction magnetic scale may be specifically 2.2 meters or the like.
Therefore, the screen coordinates of the ladle locomotive running to the target induction magnetic scale can be obtained based on the screen coordinates of the two ends of the target induction magnetic scale. And then through mutual cooperation of the induction magnetic scale and the induction magnetic scale reader, the accurate positioning of the iron-clad locomotive under the condition that the iron-clad locomotive cannot be positioned by the GNSS is achieved.
The ladle car is also provided with a 4G network antenna, and may also be other transmission antennas, which are not limited herein, for transmitting the actual positioning data to a server for the server to use, and the ladle car is also provided with a positioning controller (P2 combined navigation host).
And displaying the positioning information of the iron-clad locomotive in the railway transportation area and the rail transportation area through the tracking display interface map, and further accurately positioning the operation process of the railway locomotive.
The following detailed description is given by way of specific examples:
in the railway transportation area outside the blast furnace and outside the steel plant, first, GNSS positioning data, specifically latitude and longitude coordinates, of a certain dynamic point i are obtained (118.50111112, 38.95738875).
Then, 2 occupied sections around the dynamic point i are determined, and longitude and latitude coordinates of two ends of the first section are (118.50160548, 38.95769123), (118.5033887, 38.95856978); the latitude and longitude coordinates of both ends of the second segment are (118.50106183, 38.95734834), (118.50343359, 38.95851433).
Thus, the second segment closest to the dynamic point i is measured, and the latitude and longitude coordinates of the dynamic point i are corrected to (118.50112337, 38.95737823).
Then, screen coordinates (694, 214) and (1080, 214) at two ends of the second section are obtained, and the corrected longitude and latitude coordinates are converted into screen coordinates (740, 214) of a tracking and displaying interface map.
Finally, the screen coordinates (740, 214) are presented on a tracking presentation interface map.
In the rail transportation area under the blast furnace and in the steel-making factory building, firstly, the scanning length of the target induction magnetic scale is 800mm obtained through the induction magnetic scale reader.
Then, screen coordinates of the two ends of the target induction magnetic scale on the tracking and displaying interface map are obtained, specifically obtained through query and the like, specifically to be (1094, 718) and (3244, 718).
And calculating screen coordinates (1894, 718) of the position of the ladle locomotive based on the obtained scanning length of 800mm and the screen coordinates at the two ends of the target induction magnetic scale.
Finally, the screen coordinates (1894, 718) of the location of the ladle locomotive are displayed on the tracking presentation interface map.
The positioning information of the iron-clad locomotive in the railway transportation area and the rail transportation area is displayed on the tracking display interface map, so that the running process of the railway locomotive is accurately positioned, and a basis is provided for the quality tracing of products.
One or more technical solutions in the embodiments of the present invention have at least the following technical effects or advantages:
the invention provides a method for tracking and positioning an iron-clad locomotive, wherein the transportation area of the iron-clad locomotive comprises a railway transportation area outside a blast furnace and a steel-making factory building and a rail transportation area below the blast furnace and in the steel-making factory building, an induction magnetic scale reader and a GNSS antenna are arranged on the iron-clad locomotive, a plurality of induction magnetic scales are arranged in the rail transportation area, and the method comprises the following steps: when the iron-clad locomotive runs to a railway transportation area, positioning the position of the iron-clad locomotive through a GNSS antenna to obtain a first positioning coordinate; displaying the first positioning coordinate through a tracking display interface map so as to realize tracking and positioning outside the blast furnace and the steel-making factory building; when the ladle locomotive runs onto the target induction magnetic scale, acquiring a first screen coordinate and a second screen coordinate of two ends of the target induction magnetic scale on the tracking display interface map respectively; acquiring the scanning length of the induction magnetic scale reader on the target induction magnetic scale based on the read data of the induction magnetic scale reader; and determining a third screen coordinate of the ladle locomotive on the tracking display interface map based on the first screen coordinate, the second screen coordinate, the scanning length and the actual length of the target induction magnetic scale, and displaying the third screen coordinate on the tracking display interface map so as to realize tracking and positioning under a blast furnace and in a steel-making factory building, further realize accurate positioning of the ladle locomotive under the condition of severe environment, and provide a basis for quality tracing of products.
Example two
Based on the same inventive concept, an embodiment of the present invention further provides a device for tracking and positioning a ladle locomotive, where a transportation area of the ladle locomotive includes a railway transportation area outside a blast furnace and outside a steel plant and a rail transportation area below the blast furnace and inside the steel plant, an induction magnetic scale reader and a GNSS antenna are installed on the ladle locomotive, and a plurality of induction magnetic scales are installed in the rail transportation area, as shown in fig. 2, the device includes:
the first positioning module 201 is used for positioning the position of the ladle locomotive through the GNSS antenna when the ladle locomotive runs to the railway transportation area, so as to obtain a first positioning coordinate;
the first display module 202 is configured to display the first positioning coordinate through a tracking display interface map, so as to realize tracking and positioning outside the blast furnace and outside the steel-making factory building;
the first obtaining module 203 is used for obtaining a first screen coordinate and a second screen coordinate of two ends of a target induction magnetic scale on a tracking display interface map when the ladle locomotive runs onto the target induction magnetic scale;
a first obtaining module 204, configured to obtain, based on read data of the induction magnetic scale reader, a scanning length of the induction magnetic scale reader on the target induction magnetic scale;
a determining module 205, configured to determine a third screen coordinate of the ladle locomotive on the tracking display interface map based on the first screen coordinate, the second screen coordinate, the scanning length, and the actual length of the target induction magnetic scale;
and the second display module 206 is configured to display the third screen coordinate on the tracking display interface map, so as to realize tracking and positioning under the blast furnace and in the steel-making factory building.
In an optional implementation manner, the determining module 205 is configured to:
determining a third screen coordinate of the ladle locomotive on the tracking display interface map according to the following formula based on the first screen coordinate, the second screen coordinate, the scanning length and the actual length of the target induction magnetic scale:
wherein (x)s,ys) And (x)e,ye) The first screen coordinate and the second screen coordinate are included, N is the actual length of the target induction magnetic scale, and M is the scanning length.
In an optional embodiment, the method further comprises:
a second obtaining module, configured to obtain GNSS positioning data at two ends of each section of the railway transportation area;
the first selection module is used for selecting an end point of a target section and taking the end point of the target section as a datum point;
the third acquisition module is used for acquiring relative positioning data of key points on the railway transportation area relative to the reference points and converting the relative positioning data into fourth screen coordinates on the tracking display interface map;
and the second obtaining module is used for obtaining the railway transportation area and the tracking display interface map of the rail transportation area based on the fourth screen coordinate.
In an optional embodiment, the method further comprises:
the judging module is used for judging whether the peripheral section of the first positioning coordinate is occupied or not;
the second selection module is used for selecting the section with the closest distance when the occupied section exists;
a fourth obtaining module, configured to obtain the positioning data at the two ends of the closest segment as a second positioning coordinate and a third positioning coordinate;
and the third obtaining module is used for correcting the first positioning coordinate based on the first positioning coordinate, the second positioning coordinate and the third positioning coordinate to obtain a corrected fourth positioning coordinate.
In an optional implementation, the third obtaining module is configured to:
based on the first positioning coordinate, the second positioning coordinate and the third positioning coordinate, correcting the first positioning coordinate according to the following formula to obtain a corrected fourth positioning coordinate:
wherein (J)t,Wt) Is the first location coordinate, (J)e,We)、(Js,Ws) The second and third positioning coordinates, (J) respectivelyΔt,WΔt) And k is a deviation correction coefficient for the fourth positioning coordinate.
In an optional embodiment, the method further comprises:
and the conversion module is used for converting the fourth positioning coordinate into a fifth screen coordinate on the tracking display interface map.
In an alternative embodiment, the conversion module includes:
the acquisition unit is used for acquiring a sixth screen coordinate and a seventh screen coordinate of the second positioning coordinate and the third positioning coordinate at two ends of the nearest section on the tracking display interface map;
a calculating unit, configured to convert, based on the second positioning coordinate, the third positioning coordinate, the sixth screen coordinate, the seventh screen coordinate, and the fourth positioning coordinate, the fourth positioning coordinate into a fifth screen coordinate on the tracking display interface map according to the following formula:
wherein (x)s,ys)、(xe,ye) (J) said sixth screen coordinate and said seventh screen coordinate, respectivelye,We)、(Js,Ws) The second and third positioning coordinates, (J) respectivelyΔt,WΔt) The fourth positioning coordinates.
EXAMPLE III
Based on the same inventive concept, a third embodiment of the present invention provides an electronic device, as shown in fig. 3, including a memory 304, a processor 302, and a computer program stored in the memory 304 and executable on the processor 302, where the processor 302 executes the computer program to implement some or all of the steps of the above-mentioned method for tracking and positioning a railroad car.
Where in fig. 3 a bus architecture (represented by bus 300), bus 300 may include any number of interconnected buses and bridges, bus 300 linking together various circuits including one or more processors, represented by processor 302, and memory, represented by memory 304. The bus 300 may also link together various other circuits such as peripherals, voltage regulators, power management circuits, and the like, which are well known in the art, and therefore, will not be described any further herein. A bus interface 306 provides an interface between the bus 300 and the receiver 301 and transmitter 303. The receiver 301 and the transmitter 303 may be the same element, i.e., a transceiver, providing a means for communicating with various other apparatus over a transmission medium. The processor 302 is responsible for managing the bus 300 and general processing, and the memory 304 may be used for storing data used by the processor 302 in performing operations.
Example four
Based on the same inventive concept, a fourth embodiment of the present invention provides a computer-readable storage medium, on which a computer program is stored, wherein the computer program, when executed by a processor, implements all or part of the steps of the above method for tracking and positioning a railcar.
The algorithms and displays presented herein are not inherently related to any particular computer, virtual machine, or other apparatus. Various general purpose systems may also be used with the teachings herein. The required structure for constructing such a system will be apparent from the description above. Moreover, the present invention is not directed to any particular programming language. It is appreciated that a variety of programming languages may be used to implement the teachings of the present invention as described herein, and any descriptions of specific languages are provided above to disclose the best mode of the invention.
In the description provided herein, numerous specific details are set forth. It is understood, however, that embodiments of the invention may be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure an understanding of this description.
Similarly, it should be appreciated that in the foregoing description of exemplary embodiments of the invention, various features of the invention are sometimes grouped together in a single embodiment, figure, or description thereof for the purpose of streamlining the disclosure and aiding in the understanding of one or more of the various inventive aspects. However, the disclosed method should not be interpreted as reflecting an intention that: that the invention as claimed requires more features than are expressly recited in each claim. Rather, as the following claims reflect, inventive aspects lie in less than all features of a single foregoing disclosed embodiment. Thus, the claims following the detailed description are hereby expressly incorporated into this detailed description, with each claim standing on its own as a separate embodiment of this invention.
Those skilled in the art will appreciate that the modules in the device in an embodiment may be adaptively changed and disposed in one or more devices different from the embodiment. The modules or units or components of the embodiments may be combined into one module or unit or component, and furthermore they may be divided into a plurality of sub-modules or sub-units or sub-components. All of the features disclosed in this specification (including any accompanying claims, abstract and drawings), and all of the processes or elements of any method or apparatus so disclosed, may be combined in any combination, except combinations where at least some of such features and/or processes or elements are mutually exclusive. Each feature disclosed in this specification (including any accompanying claims, abstract and drawings) may be replaced by alternative features serving the same, equivalent or similar purpose, unless expressly stated otherwise.
Furthermore, those skilled in the art will appreciate that while some embodiments herein include some features included in other embodiments, rather than other features, combinations of features of different embodiments are meant to be within the scope of the invention and form different embodiments. For example, in the following claims, any of the claimed embodiments may be used in any combination.
The various component embodiments of the invention may be implemented in hardware, or in software modules running on one or more processors, or in a combination thereof. It will be appreciated by those skilled in the art that a microprocessor or Digital Signal Processor (DSP) may be used in practice to implement some or all of the functions of some or all of the components of the apparatus, electronics for tracking and locating a pig iron locomotive in accordance with embodiments of the present invention. The present invention may also be embodied as apparatus or device programs (e.g., computer programs and computer program products) for performing a portion or all of the methods described herein. Such programs implementing the present invention may be stored on computer-readable media or may be in the form of one or more signals. Such a signal may be downloaded from an internet website or provided on a carrier signal or in any other form.
It should be noted that the above-mentioned embodiments illustrate rather than limit the invention, and that those skilled in the art will be able to design alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word "comprising" does not exclude the presence of elements or steps not listed in a claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The invention may be implemented by means of hardware comprising several distinct elements, and by means of a suitably programmed computer. In the unit claims enumerating several means, several of these means may be embodied by one and the same item of hardware. The usage of the words first, second and third, etcetera do not indicate any ordering. These words may be interpreted as names.
Claims (10)
1. A method for tracking and positioning a ladle locomotive, wherein the transportation area of the ladle locomotive comprises a railway transportation area outside a blast furnace and outside a steel plant and a rail transportation area below the blast furnace and inside the steel plant, an induction magnetic scale reader and a GNSS antenna are arranged on the ladle locomotive, and a plurality of induction magnetic scales are arranged in the rail transportation area, the method is characterized by comprising the following steps of:
when the ladle locomotive runs to the railway transportation area, the position of the ladle locomotive is located through the GNSS antenna, and a first locating coordinate is obtained;
displaying the first positioning coordinate through a tracking display interface map so as to realize tracking and positioning outside the blast furnace and the steel-making factory building;
when the ladle locomotive runs onto a target induction magnetic scale, acquiring a first screen coordinate and a second screen coordinate of two ends of the target induction magnetic scale on a tracking display interface map respectively;
acquiring the scanning length of the induction magnetic scale reader on the target induction magnetic scale based on the read data of the induction magnetic scale reader;
determining a third screen coordinate of the ladle locomotive on the tracking display interface map based on the first screen coordinate, the second screen coordinate, the scanning length and the actual length of the target induction magnetic scale;
and displaying the third screen coordinate on the tracking display interface map so as to realize tracking and positioning under the blast furnace and in the steel-making factory building.
2. The method of claim 1, wherein determining a third screen coordinate of the railroad car on the tracking presentation interface map based on the first screen coordinate, the second screen coordinate, the scan length, and the actual length of the target sensing scale comprises:
determining a third screen coordinate of the ladle locomotive on the tracking display interface map according to the following formula based on the first screen coordinate, the second screen coordinate, the scanning length and the actual length of the target induction magnetic scale:
wherein (x)s,ys) And (x)e,ye) The first screen coordinate and the second screen coordinate are included, N is the actual length of the target induction magnetic scale, and M is the scanning length.
3. The method of claim 1, wherein before obtaining the first positioning coordinates by locating a position of the pig iron locomotive with the GNSS antenna, further comprising:
acquiring GNSS positioning data at two ends of each section of the railway transportation area;
selecting an end point of a target section, and taking the end point of the target section as a reference point;
acquiring relative positioning data of key points on the railway transportation area relative to the reference points, and converting the relative positioning data into fourth screen coordinates on the tracking display interface map;
and obtaining the tracking display interface map of the railway transportation area and the track transportation area based on the fourth screen coordinate.
4. The method of claim 3, wherein after obtaining the first positioning coordinates by locating the position of the pig iron locomotive with the GNSS antenna, the method further comprises:
judging whether the surrounding sections of the first positioning coordinate are occupied or not;
when occupied, selecting the section with the nearest distance;
acquiring positioning data at two ends of the nearest section as a second positioning coordinate and a third positioning coordinate;
and correcting the first positioning coordinate based on the first positioning coordinate, the second positioning coordinate and the third positioning coordinate to obtain a corrected fourth positioning coordinate.
5. The method of claim 4, wherein the de-skewing the first location coordinate based on the first location coordinate, the second location coordinate, and the third location coordinate to obtain a de-skewed fourth location coordinate comprises:
based on the first positioning coordinate, the second positioning coordinate and the third positioning coordinate, correcting the first positioning coordinate according to the following formula to obtain a corrected fourth positioning coordinate:
wherein (J)t,Wt) Is the first location coordinate, (J)e,We)、(Js,Ws) The second and third positioning coordinates, (J) respectivelyΔt,WΔt) And k is a deviation correction coefficient for the fourth positioning coordinate.
6. The method of claim 4, wherein after the de-skewing the first location coordinate based on the first location coordinate, the second location coordinate, and the third location coordinate to obtain a de-skewed fourth location coordinate, further comprising:
and converting the fourth positioning coordinate into a fifth screen coordinate on the tracking display interface map.
7. The method of claim 6, wherein said converting the fourth positioning coordinate to a fifth screen coordinate on the tracking presentation interface map comprises:
acquiring a sixth screen coordinate and a seventh screen coordinate of the second positioning coordinate and the third positioning coordinate at two ends of the nearest section on the tracking display interface map;
based on the second positioning coordinate, the third positioning coordinate, the sixth screen coordinate, the seventh screen coordinate, and the fourth positioning coordinate, converting the fourth positioning coordinate into a fifth screen coordinate on the tracking display interface map according to the following formula:
wherein (x)s,ys)、(xe,ye) (J) said sixth screen coordinate and said seventh screen coordinate, respectivelye,We)、(Js,Ws) The second and third positioning coordinates, (J) respectivelyΔt,WΔt) The fourth positioning coordinates.
8. The utility model provides a device to location is trailed to indisputable locomotive, the transportation area territory of indisputable locomotive includes the railway transportation area territory outside the blast furnace and outside the steelmaking factory building and the rail transport area territory in the blast furnace and the steelmaking factory building under, installation response magnetic scale reader and GNSS antenna on the indisputable locomotive many response magnetic scales of regional installation of rail transport, its characterized in that includes:
the first positioning module is used for positioning the position of the iron-clad locomotive through the GNSS antenna when the iron-clad locomotive runs to the railway transportation area to obtain a first positioning coordinate;
the first display module is used for displaying the first positioning coordinate through a tracking display interface map so as to realize tracking and positioning outside the blast furnace and the steel-making factory building;
the first acquisition module is used for acquiring a first screen coordinate and a second screen coordinate of two ends of a target induction magnetic scale on the tracking display interface map when the ladle locomotive runs onto the target induction magnetic scale;
the first obtaining module is used for obtaining the scanning length of the induction magnetic scale reader on the target induction magnetic scale based on the read data of the induction magnetic scale reader;
the determining module is used for determining a third screen coordinate of the ladle locomotive on the tracking display interface map based on the first screen coordinate, the second screen coordinate, the scanning length and the actual length of the target induction magnetic scale;
and the second display module is used for displaying the third screen coordinate on the tracking display interface map so as to realize tracking and positioning under the blast furnace and in the steel-making factory building.
9. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor implements the method steps of any of claims 1-7 when executing the program.
10. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the method steps of any one of claims 1 to 7.
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