CN112558071B - Electric locomotive radar anti-collision method, system and storage medium - Google Patents
Electric locomotive radar anti-collision method, system and storage medium Download PDFInfo
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- CN112558071B CN112558071B CN202011414109.1A CN202011414109A CN112558071B CN 112558071 B CN112558071 B CN 112558071B CN 202011414109 A CN202011414109 A CN 202011414109A CN 112558071 B CN112558071 B CN 112558071B
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- 230000003137 locomotive effect Effects 0.000 title claims abstract description 105
- 238000000034 method Methods 0.000 title claims abstract description 24
- 238000004891 communication Methods 0.000 claims abstract description 25
- 238000012545 processing Methods 0.000 claims abstract description 20
- 230000009467 reduction Effects 0.000 claims abstract description 10
- 238000012544 monitoring process Methods 0.000 claims description 9
- 239000000428 dust Substances 0.000 claims description 4
- 239000002245 particle Substances 0.000 claims description 4
- 241000533950 Leucojum Species 0.000 claims description 3
- 238000002592 echocardiography Methods 0.000 claims description 3
- 239000004065 semiconductor Substances 0.000 claims description 3
- 238000007405 data analysis Methods 0.000 claims description 2
- 239000000571 coke Substances 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 230000006870 function Effects 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 241000196324 Embryophyta Species 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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- 230000003287 optical effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
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- 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
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
-
- 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
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/06—Systems determining position data of a target
- G01S13/08—Systems for measuring distance only
-
- 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
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/9321—Velocity regulation, e.g. cruise control
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- Radar, Positioning & Navigation (AREA)
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- Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
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- Electromagnetism (AREA)
- Traffic Control Systems (AREA)
- Radar Systems Or Details Thereof (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The invention provides an anti-collision method, a system and a storage medium for an electric locomotive radar, which comprise the steps of acquiring radar data in 50 meters in front of the electric locomotive in real time; processing the radar data to obtain obstacle distance data; determining whether the electric locomotive supports Ethernet communication; if the Ethernet communication is supported, the electric locomotive receives the obstacle distance data in real time through the Ethernet, the real-time distance between the electric locomotive cab display and the obstacle is displayed, and the speed reduction and scram operation is automatically carried out according to the real-time distance between the electric locomotive cab display and the obstacle; if the Ethernet communication is not supported, the obstacle distance data is output in the form of 6 passive nodes, the 6 passive nodes are used for arbitrarily defining the distance between the electric locomotive and the obstacle, the approximate distance between the electric locomotive cab display and the obstacle is displayed, and the speed reduction and scram operation is automatically carried out according to the approximate distance between the electric locomotive cab display and the obstacle. The invention can be applied to electric locomotives to realize the anti-collision function between the electric locomotives or between the electric locomotives and obstacles.
Description
Technical Field
The invention relates to the technical field of coke oven equipment, in particular to an electric locomotive radar anti-collision method, an electric locomotive radar anti-collision system and a storage medium.
Background
At present, the collision avoidance system of the domestic electric locomotive mainly comprises the following modes:
1. by means of a four-vehicle interlocking system, the relative positions of vehicles are calculated by monitoring the positions of the vehicles (the positions of the vehicles in a furnace area) in real time, so that collision avoidance among the vehicles is realized.
Disadvantages: the collision avoidance of the vehicle to personnel cannot be realized.
2. The positions of certain fixed points are detected through the vehicle and the ground mounting limit switch, so that the vehicle is crashproof.
Disadvantages: the method can only realize the collision avoidance of a plurality of points, and can not realize the real-time collision avoidance between vehicles and the collision avoidance of the vehicles and other obstacles.
3. Omnidirectional radar ranging anticollision (Japanese imported products, detailed technical parameters are not detailed, manufacturing cost is higher), fixed angle obstacles can be shielded through an algorithm, objects in a track area are only monitored and ranging is achieved, but the distance is closer, and reliability is achieved within 30 meters.
Disadvantages: the method has the advantages that the speed reduction distance of two electric locomotives which run in opposite directions at high speed is too short, the anti-collision can not be realized, and the collision result can be reduced to a certain extent.
Disclosure of Invention
According to the technical problems set forth above, an electric locomotive radar anti-collision method, an electric locomotive radar anti-collision system and a storage medium are provided. The method mainly utilizes the radar monitoring unit to acquire radar data in 50 meters in front of the motor vehicle in real time, and then utilizes the radar data processing unit to process the acquired radar data to acquire obstacle distance data; according to the hardware configuration condition of the electric locomotive, data can be transmitted to the electric locomotive in two modes, so that the electric locomotive can automatically perform operations such as speed reduction, scram and the like according to data information, and the risk of collision is reduced.
The invention adopts the following technical means:
an electric locomotive radar anti-collision method comprises the following steps:
s1, acquiring radar data in 50 meters in front of a motor vehicle in real time;
s2, processing the acquired radar data to obtain obstacle distance data of the radar data;
s3, determining whether the electric locomotive supports Ethernet communication;
s4, if the electric locomotive supports Ethernet communication, the electric locomotive receives the obstacle distance data in real time through the Ethernet, the real-time distance between the electric locomotive cab display and the obstacle is displayed, and the speed reduction and scram operation is automatically carried out according to the real-time distance between the electric locomotive and the obstacle; if the electric locomotive does not support Ethernet communication, executing step S5;
s5, outputting the obstacle distance data in the form of 6 passive nodes, wherein the 6 passive nodes are used for arbitrarily defining the distance between an electric locomotive and an obstacle, displaying the approximate distance between the electric locomotive cab and the obstacle, and automatically performing deceleration and scram operations according to the approximate distance between the electric locomotive cab and the obstacle.
Further, the acquiring radar data in front of the motor vehicle within 50 meters in real time includes:
the radar with specific wavelength is arranged in front of the operation of the electric locomotive, and the obstacle in front of the electric locomotive within 50 meters is monitored in real time.
Further, processing the obtained radar data to obtain obstacle distance data of the radar data, including:
the radar data is sent to a radar data processing module arranged in an electric room of the electric locomotive in an RS485 mode;
the radar data processing module analyzes the data of the multiple echoes and eliminates interference data formed by rain and fog, snowflakes and dust with larger particles.
The invention also provides a radar collision avoidance system of the electric locomotive, which comprises:
the radar monitoring unit is used for acquiring radar data in 50 meters in front of the motor vehicle in real time;
the radar data processing unit is used for processing the acquired radar data to obtain obstacle distance data of the radar data;
the determining unit is used for determining whether the electric locomotive supports Ethernet communication or not;
the first execution unit is used for receiving the obstacle distance data in real time through the Ethernet if the electric locomotive supports Ethernet communication, displaying the real-time distance between the electric locomotive cab and the obstacle, and automatically performing deceleration and scram operation according to the real-time distance between the electric locomotive and the obstacle; if the electric locomotive does not support Ethernet communication;
and the second execution unit outputs the obstacle distance data in the form of 6 passive nodes if the electric locomotive does not support Ethernet communication, wherein the 6 passive nodes arbitrarily define the distance between the electric locomotive and the obstacle, the approximate distance between the electric locomotive cab display and the obstacle is displayed, and the speed reduction and emergency stop operation is automatically carried out according to the approximate distance between the electric locomotive cab display and the obstacle.
Further, the radar monitoring unit is a semiconductor laser light source, and the center wavelength is 755 nm-915 nm laser radar.
A computer-readable storage medium having stored therein a set of computer instructions; the computer instruction set, when executed by the processor, implements the electric locomotive radar collision avoidance method described above.
Compared with the prior art, the invention has the following advantages:
1. the radar anti-collision method and the radar anti-collision system for the electric locomotive can be applied to the electric locomotive in the coke oven equipment, and the anti-collision function between the electric locomotive and the electric locomotive or between the electric locomotive and an obstacle is realized.
2. Compared with other collision avoidance system schemes, the radar collision avoidance method and system for the electric locomotive, provided by the invention, not only can replace other collision avoidance system schemes, but also can greatly improve functions of other collision avoidance system schemes, make up for the defects of other collision avoidance schemes, and have very important significance for improving safety of equipment (effectively avoiding collision and collision of people).
For the reasons, the invention can be widely popularized in the fields of coke oven equipment and the like.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings may be obtained according to the drawings without inventive effort to a person skilled in the art.
FIG. 1 is a flow chart of the method of the present invention.
Fig. 2 is a schematic diagram of the application of the system of the present invention to an electric locomotive in a coke oven plant according to an embodiment of the present invention.
FIG. 3 is a schematic diagram of a first execution unit of the system of the present invention.
FIG. 4 is a schematic diagram of a second execution unit of the system of the present invention.
Detailed Description
In order that those skilled in the art will better understand the present invention, a technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, shall fall within the scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and the claims of the present invention and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the invention described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
As shown in fig. 1, the invention provides an electric locomotive radar anti-collision method, which comprises the following steps:
s1, acquiring radar data in 50 meters in front of a motor vehicle in real time;
in a specific implementation, as a preferred embodiment of the present invention, the acquiring radar data in front of the motor vehicle within 50 meters in real time includes:
the radar with specific wavelength is arranged in front of the operation of the electric locomotive, and the obstacle in front of the electric locomotive within 50 meters is monitored in real time.
S2, processing the acquired radar data to obtain obstacle distance data of the radar data;
in a specific implementation, as a preferred embodiment of the present invention, the processing the acquired radar data to obtain the obstacle distance data of the radar data includes:
the radar data is sent to a radar data processing module arranged in an electric room of the electric locomotive in an RS485 mode;
due to the characteristics of the laser radar, rain and fog, snowflakes and even dust with larger particles can be detected by the radar, so that distance false alarm is caused, and normal operation of the radar is interfered. Therefore, the radar data processing module performs data analysis on multiple echoes, and eliminates interference data formed by rain and fog, snow and dust with larger particles.
S3, determining whether the electric locomotive supports Ethernet communication;
s4, if the electric locomotive supports Ethernet communication, the electric locomotive receives the obstacle distance data in real time through the Ethernet, the real-time distance between the electric locomotive cab display and the obstacle is displayed, and the speed reduction and scram operation is automatically carried out according to the real-time distance between the electric locomotive and the obstacle; if the electric locomotive does not support Ethernet communication, executing step S5;
s5, outputting the obstacle distance data in the form of 6 passive nodes, wherein the 6 passive nodes are used for arbitrarily defining the distance between an electric locomotive and an obstacle, displaying the approximate distance between the electric locomotive cab and the obstacle, and automatically performing deceleration and scram operations according to the approximate distance between the electric locomotive cab and the obstacle.
The invention also provides a radar anti-collision system of an electric locomotive, as shown in fig. 2, which is a schematic diagram for applying the system of the invention to the electric locomotive in coke oven equipment, comprising:
the radar monitoring unit is used for acquiring radar data in 50 meters in front of the motor vehicle in real time;
the radar data processing unit is used for processing the acquired radar data to obtain obstacle distance data of the radar data;
the determining unit is used for determining whether the electric locomotive supports Ethernet communication or not;
the first execution unit, as shown in fig. 3, if the electric locomotive supports ethernet communication, the electric locomotive receives the obstacle distance data in real time in an RJ45 mode, displays the real-time distance between the electric locomotive cab and the obstacle, and automatically performs deceleration and scram operations according to the real-time distance between the electric locomotive and the obstacle; if the locomotive does not support Ethernet communication;
and the second execution unit outputs the obstacle distance data in the form of 6 passive nodes (K1, K2, K3, K4, K5 and K6) through the DI module if the electric locomotive does not support Ethernet communication, wherein the 6 passive nodes arbitrarily define the distance between the electric locomotive and the obstacle, the approximate distance between the electric locomotive cab display and the obstacle is displayed, and the speed reduction and scram operation is automatically carried out according to the approximate distance between the electric locomotive and the obstacle.
In specific implementation, as a preferred embodiment of the invention, the radar monitoring unit is a semiconductor laser light source, and the center wavelength is 755 nm-915 nm laser radar.
A computer-readable storage medium having stored therein a set of computer instructions; the computer instruction set, when executed by the processor, implements the electric locomotive radar collision avoidance method described above.
In the several embodiments provided in the present application, it should be understood that the disclosed technology content may be implemented in other manners. The above-described embodiments of the apparatus are merely exemplary, and the division of the units, for example, may be a logic function division, and may be implemented in another manner, for example, a plurality of units or components may be combined or may be integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be through some interfaces, units or modules, or may be in electrical or other forms.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional unit in the embodiments of the present invention may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.
The integrated units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied essentially or in part or all of the technical solution or in part in the form of a software product stored in a storage medium, including instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a removable hard disk, a magnetic disk, or an optical disk, or other various media capable of storing program codes.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and not for limiting the same; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the invention.
Claims (4)
1. An electric locomotive radar anti-collision method is characterized by comprising the following steps:
s1, acquiring radar data in 50 meters in front of a motor vehicle in real time;
s2, processing the acquired radar data to obtain obstacle distance data of the radar data;
the radar monitoring unit is a semiconductor laser light source, and the central wavelength of the radar monitoring unit is 755 nm-915 nm laser radar;
the radar data is sent to a radar data processing module arranged in an electric room of the electric locomotive in an RS485 mode;
the radar data processing module performs data analysis on multiple echoes and eliminates interference data formed by rain and fog, snowflakes and particle dust;
s3, determining whether the electric locomotive supports Ethernet communication;
s4, if the electric locomotive supports Ethernet communication, the electric locomotive receives the obstacle distance data in real time through the Ethernet, the real-time distance between the electric locomotive cab display and the obstacle is displayed, and the speed reduction and scram operation is automatically carried out according to the real-time distance between the electric locomotive and the obstacle; if the electric locomotive does not support Ethernet communication, executing step S5;
s5, outputting the obstacle distance data in the form of 6 passive nodes, wherein the 6 passive nodes are used for arbitrarily defining the distance between an electric locomotive and an obstacle, displaying the approximate distance between the electric locomotive cab and the obstacle, and automatically performing deceleration and scram operations according to the approximate distance between the electric locomotive cab and the obstacle.
2. The method of claim 1, wherein the acquiring radar data in front of the electric locomotive in real time within 50 meters comprises:
the radar with specific wavelength is arranged in front of the operation of the electric locomotive, and the obstacle in front of the electric locomotive within 50 meters is monitored in real time.
3. An electric locomotive radar anti-collision device, comprising:
the radar monitoring unit is used for acquiring radar data in 50 meters in front of the motor vehicle in real time;
the radar data processing unit is used for processing the acquired radar data to obtain obstacle distance data of the radar data;
the determining unit is used for determining whether the electric locomotive supports Ethernet communication or not;
the first execution unit is used for receiving the obstacle distance data in real time through the Ethernet if the electric locomotive supports Ethernet communication, displaying the real-time distance between the electric locomotive cab and the obstacle, and automatically performing deceleration and scram operation according to the real-time distance between the electric locomotive and the obstacle; if the locomotive does not support Ethernet communication;
and the second execution unit outputs the obstacle distance data in the form of 6 passive nodes if the electric locomotive does not support Ethernet communication, wherein the 6 passive nodes arbitrarily define the distance between the electric locomotive and the obstacle, the approximate distance between the electric locomotive cab display and the obstacle is displayed, and the speed reduction and emergency stop operation is automatically carried out according to the approximate distance between the electric locomotive cab display and the obstacle.
4. A computer-readable storage medium having a set of computer instructions stored therein; the set of computer instructions, when executed by a processor, implements the electric locomotive radar collision avoidance method of any of claims 1-2.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202011414109.1A CN112558071B (en) | 2020-12-03 | 2020-12-03 | Electric locomotive radar anti-collision method, system and storage medium |
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| CN202011414109.1A CN112558071B (en) | 2020-12-03 | 2020-12-03 | Electric locomotive radar anti-collision method, system and storage medium |
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| CN112558071B true CN112558071B (en) | 2024-02-13 |
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Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20040055856A (en) * | 2002-12-23 | 2004-06-30 | 주식회사 포스코 | A Method for Controlling an Unmanned Moving Car for Rugular Position Stop |
| CN109735352A (en) * | 2019-02-26 | 2019-05-10 | 柳州钢铁股份有限公司 | Coke oven electric locomotive automatic Pilot comprehensive safety protection system |
| CN110884528A (en) * | 2019-12-06 | 2020-03-17 | 大连重矿设备制造有限公司 | Electric locomotive collision avoidance system and method |
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2020
- 2020-12-03 CN CN202011414109.1A patent/CN112558071B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20040055856A (en) * | 2002-12-23 | 2004-06-30 | 주식회사 포스코 | A Method for Controlling an Unmanned Moving Car for Rugular Position Stop |
| CN109735352A (en) * | 2019-02-26 | 2019-05-10 | 柳州钢铁股份有限公司 | Coke oven electric locomotive automatic Pilot comprehensive safety protection system |
| CN110884528A (en) * | 2019-12-06 | 2020-03-17 | 大连重矿设备制造有限公司 | Electric locomotive collision avoidance system and method |
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Denomination of invention: A collision avoidance method, system, and storage medium for electric locomotive radar Granted publication date: 20240213 Pledgee: Industrial and Commercial Bank of China Limited Dalian high tech Park sub branch Pledgor: DALIAN ZHONGKUANG EQUIPMENT MANUFACTURING Co.,Ltd. Registration number: Y2024980025625 |