CN113050104B - Vehicle position measurement method based on position estimation, terminal equipment and storage medium - Google Patents
Vehicle position measurement method based on position estimation, terminal equipment and storage medium Download PDFInfo
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- CN113050104B CN113050104B CN202110359100.3A CN202110359100A CN113050104B CN 113050104 B CN113050104 B CN 113050104B CN 202110359100 A CN202110359100 A CN 202110359100A CN 113050104 B CN113050104 B CN 113050104B
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- 238000003860 storage Methods 0.000 title claims abstract description 14
- 238000000691 measurement method Methods 0.000 title claims abstract description 13
- 238000000034 method Methods 0.000 claims abstract description 30
- 230000002159 abnormal effect Effects 0.000 claims abstract description 11
- 238000005259 measurement Methods 0.000 claims description 20
- 238000004590 computer program Methods 0.000 claims description 19
- 230000008569 process Effects 0.000 claims description 15
- 230000009467 reduction Effects 0.000 claims description 6
- 230000005856 abnormality Effects 0.000 claims description 5
- 238000004364 calculation method Methods 0.000 claims description 4
- 238000010079 rubber tapping Methods 0.000 description 11
- 229910000831 Steel Inorganic materials 0.000 description 8
- 239000010959 steel Substances 0.000 description 8
- 230000006870 function Effects 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 3
- 238000009825 accumulation Methods 0.000 description 1
- 230000001413 cellular effect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 230000003287 optical effect Effects 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
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
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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
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target 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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/497—Means for monitoring or calibrating
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- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Electromagnetism (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention relates to a vehicle position measurement method based on position estimation, a terminal device and a storage medium, wherein the method comprises the following steps: s1: initially setting time t=0, and simultaneously setting vehicle position S (t) at t=0 as vehicle position S 2 (t) measured by the distance measuring instrument; s2: let t=t+1; s3: calculating a vehicle estimated position S 1 (t) at the time t according to the vehicle position S (t-1) at the time t-1 and the running speed of the vehicle; s4: calculating the vehicle position S (t) at the moment t according to the estimated position S 1 (t) of the vehicle at the moment t, the state of the distance measuring instrument and the vehicle position S 2 (t) measured by the distance measuring instrument at the moment t, if the running distance of the vehicle under the condition of abnormal state of the distance measuring instrument is greater than a distance threshold value, carrying out distance measuring abnormal alarm until the fault is cleared, and returning to S1 for re-execution; otherwise, return to S2. The invention greatly improves the positioning reliability of the vehicle.
Description
Technical Field
The invention relates to the field of automatic control in the metallurgical industry, in particular to a vehicle position measurement method based on position estimation, terminal equipment and a storage medium.
Background
When the converter is smelted, the furnace body needs to be tilted through a tilting mechanism, molten steel in the furnace flows out from a tapping hole below a furnace cap into a ladle on a ladle car below the furnace, and the operation process is called converter tapping operation. In the past, tapping operation is manually completed by operators, more steel factories realize automatic tapping in recent years, a ladle car needs to realize an automatic running function in the automatic tapping process, and the centering of steel flow and the center of the ladle is ensured, so that the position measurement technology of the ladle car becomes critical, is a factor closely related to tapping safety, and causes major accidents if the steel flow falls out of the ladle due to the deviation of the positioning of the ladle car, so that the position measurement requirement of the ladle car is accurate, safe and reliable.
The main position detection method at present is to install a laser range finder at the rail end of the buggy ladle and measure the position of the buggy ladle by utilizing reflected laser irradiated to the tail end of the buggy ladle.
Disclosure of Invention
In order to solve the above problems, the present invention provides a vehicle position measurement method based on position estimation, a terminal device and a storage medium.
The specific scheme is as follows:
A vehicle position measurement method based on position estimation, comprising the steps of:
S1: initially setting time t=0, and simultaneously setting vehicle position S (t) at t=0 as vehicle position S 2 (t) measured by the distance measuring instrument;
s2: let t=t+1;
S3: calculating a vehicle estimated position S 1 (t) at the time t according to the vehicle position S (t-1) at the time t-1 and the running speed of the vehicle;
s4: calculating the vehicle position S (t) at the moment t according to the estimated position S 1 (t) of the vehicle at the moment t, the state of the distance measuring instrument and the vehicle position S 2 (t) measured by the distance measuring instrument at the moment t, if the running distance of the vehicle under the condition of abnormal state of the distance measuring instrument is greater than a distance threshold value, carrying out distance measuring abnormal alarm until the fault is cleared, and returning to S1 for re-execution; otherwise, return to S2.
Further, the distance measuring instrument is a laser distance measuring instrument.
Further, in step S3, the calculation formula of the estimated vehicle position S 1 (t) at time t is as follows:
S1(t)＝S(t-1)+vΔT
Where v denotes the running speed of the vehicle at time T, and Δt denotes the time difference between time T and time T-1.
Further, the running speed v of the vehicle at the time t is obtained by multiplying the output frequency f of the vehicle motor inverter by the reduction ratio coefficient K.
Further, the method for calculating the reduction ratio coefficient K of the vehicle comprises the following steps: controlling the vehicle to travel from the point A to the point B at a constant speed, recording the output frequency f and the travel time T of the frequency converter in the traveling process, and measuring the distance delta S (A, B) between the point A and the point B by a distance measuring instrument, wherein the distance delta S (A, B) is as follows:
further, a fixed time interval is adopted between the time t-1 and the time t.
Further, the specific process of step S4 is as follows:
S401: calculating a difference value between a measured position S 2 (t) of the distance measuring instrument at the time t and a predicted position S 1 (t) of the vehicle, setting the vehicle position S (t) at the time t as the measured position S 2 (t) of the distance measuring instrument when the difference value is smaller than a difference value threshold, setting the vehicle position S 3 when the result of the distance measuring instrument is wrong as the measured position S 2 (t) of the distance measuring instrument, and returning to S2; otherwise, the vehicle position S (t) at the time t is set as the estimated vehicle position S 1 (t), and the vehicle position S 3 when the result of the distance measuring instrument is incorrect is set as the estimated vehicle position S 1 (t), and the process goes to S402;
S402: judging whether S 3 is equal to S 2 (t-1), if so, setting S 3＝S1 (t), and entering S403; otherwise, setting S 3 unchanged, and entering S403;
s403: judging whether the absolute value S 1(t)-S3 is larger than the distance threshold value or not, if so, carrying out ranging abnormality alarming until the fault is cleared, and returning to S1 to execute again; otherwise, return to S2.
The vehicle position measurement terminal equipment based on the position estimation comprises a processor, a memory and a computer program which is stored in the memory and can run on the processor, wherein the steps of the method according to the embodiment of the invention are realized when the processor executes the computer program.
A computer readable storage medium storing a computer program which, when executed by a processor, implements the steps of the method described above for embodiments of the present invention.
By adopting the technical scheme, the vehicle positioning reliability is greatly improved.
Drawings
Fig. 1 is a flowchart of a first embodiment of the present invention.
Detailed Description
For further illustration of the various embodiments, the invention is provided with the accompanying drawings. The accompanying drawings, which are incorporated in and constitute a part of this disclosure, illustrate embodiments and together with the description, serve to explain the principles of the embodiments. With reference to these matters, one of ordinary skill in the art will understand other possible embodiments and advantages of the present invention.
The invention will now be further described with reference to the drawings and detailed description.
Embodiment one:
Because the steel flow is much smaller than the ladle opening, the diameter of the steel flow is 200-300mm under the conventional condition, and the diameter of the ladle is 4000-5000mm, so that the steel flow has a large allowance for aligning the ladle opening, the requirement on the positioning precision of the ladle car is not high, but the tapping process is impossible to be interrupted once the tapping process begins, the smooth tapping of the molten steel of the furnace is ensured even under the condition of equipment failure, and the requirement on the positioning reliability of the ladle car is very high. Aiming at the technical problems, the embodiment of the invention provides a vehicle position measurement method based on position estimation, which is used for estimating the position of a ladle car through the speed of the ladle car so as to accurately measure the position of the ladle car under the condition that the actual measurement value of a vehicle position sensor fails. Although the method is low in precision, the reliability of ladle car position measurement can be greatly improved.
As shown in fig. 1, the method comprises the steps of:
S1: the time t=0 is initially set, and the vehicle position S (t) at t=0 is set as the vehicle position S 2 (t) measured by the range finder.
In this embodiment, a laser range finder is used for distance measurement, and in other embodiments, other range finders may be used, without limitation. At the beginning of the measurement, it is necessary to first confirm the readings of the distance measuring instrument without errors.
S2: let t=t+1.
In this embodiment, in order to achieve high reliability of the measured data, a mode of use of a fixed period, i.e. a fixed time interval between the times t-1 and t, is preferably employed.
S3: according to the vehicle position S (t-1) at the time t-1 and the running speed of the vehicle, calculating the estimated vehicle position S 1 (t) at the time t, wherein the specific calculation formula is as follows:
S1(t)＝S(t-1)+vΔT
Where v denotes the running speed of the vehicle at time T, and Δt denotes the time difference between time T and time T-1.
For the running speed v of the vehicle, the running speed v can be measured by installing a rotary encoder on a buggy ladle motor, and a simpler calculation method comprises the following steps: the running speed v of the vehicle is approximately proportional to the input voltage frequency of the buggy ladle motor, and can be obtained by multiplying the output frequency f of the vehicle motor frequency converter by the reduction ratio coefficient K.
The method for calculating the reduction ratio coefficient K of the vehicle comprises the following steps: controlling the vehicle to travel from the point A to the point B at a constant speed, recording the output frequency f and the travel time T of the frequency converter in the traveling process, and measuring the distance delta S (A, B) between the point A and the point B by a distance measuring instrument, wherein the distance delta S (A, B) is as follows:
S4: calculating the vehicle position S (t) at the moment t according to the estimated position S 1 (t) of the vehicle at the moment t, the state of the distance measuring instrument and the vehicle position S 2 (t) measured by the distance measuring instrument at the moment t, if the running distance of the vehicle under the condition of abnormal state of the distance measuring instrument is greater than a distance threshold tau, carrying out distance measuring abnormal alarm until the fault is cleared, and returning to S1 for re-execution; otherwise, return to S2.
The step S4 specifically comprises the following steps:
s401: calculating a difference value between a measured position S 2 (t) of the distance measuring instrument at the time t and a vehicle estimated position S 1 (t), setting the vehicle position S (t) at the time t as the measured position S 2 (t) of the distance measuring instrument when the difference value is smaller than a difference value threshold omega, setting the vehicle position S 3 when the result of the distance measuring instrument is wrong as the measured position S 2 (t) of the distance measuring instrument, and returning to S2; otherwise, the vehicle position S (t) at the time t is set as the vehicle estimated position S 1 (t), and the vehicle position S 3 when the result of the range finder is erroneous is set as the vehicle estimated position S 1 (t), and the process proceeds to S402.
S402: judging whether S 3 is equal to S 2 (t-1), if so, setting S 3＝S1 (t), and entering S403; otherwise, the setting S 3 is unchanged, and the process advances to S403.
S403: judging whether the absolute value S 1(t)-S3 is larger than the distance threshold tau or not, if so, carrying out ranging abnormality alarming until the fault is cleared, and returning to S1 to execute again; otherwise, return to S2.
Since the laser of the laser range finder is blocked or the range finder has no signal, the difference between the measured position S 2 (t) of the range finder and the estimated position S 1 (t) of the vehicle becomes large, if the difference is within the range of the difference threshold omega, the measured result of the laser range finder is considered to be reliable, the measured value S 2 (t) of the laser range finder is used for the vehicle position S (t) at the moment t, if the difference exceeds the difference threshold omega, the measured value of the range finder changes too much in one period, the result of the range finder is wrong, the measured value of the range finder is not used any more, and the predicted value of the position at the moment t is used as the vehicle position S (t). Because the accuracy requirement of ladle car positioning is not high, the value range of the set difference threshold value omega is 0.2-0.5 m in the embodiment.
Because the ranging instrument has long-time accumulated errors when the state is abnormal, the accumulated errors are larger and larger along with the time increment, and small errors cannot influence the production, but if the errors are larger, the production is influenced. In order to avoid the influence of the error on the production, a distance threshold τ is set in this embodiment, accumulation is started from the time of the abnormal state of the range finder, and when the accumulated distance of the movement of the vehicle in the abnormal state of the range finder exceeds the distance threshold τ, the range finding abnormality alarm is performed. In the embodiment, the moving distance of the ladle car in the whole tapping process is generally not more than 5 meters, so that the fault of the ranging sensor of the ladle car in any position in the tapping process can be ensured by taking tau=5, and the reliable actual position of the ladle car is ensured to be provided under the condition of not triggering an alarm.
When the distance measurement abnormality alarm is carried out, the position sensor of the ladle car needs to be reset after being normal by manpower.
If the measured value of the laser rangefinder is restored to normal during the use of the predicted value such that the difference from the predicted value is less than Ω, the measured value of the rangefinder may be reused as the vehicle position value and assigned again to S 3, which corresponds to performing the initialization operation, resetting the accumulated error.
By the method, the vehicle positioning reliability is greatly improved.
Embodiment two:
the invention also provides a vehicle position measurement terminal device based on position estimation, which comprises a memory, a processor and a computer program stored in the memory and capable of running on the processor, wherein the steps in the method embodiment of the first embodiment of the invention are realized when the processor executes the computer program.
Further, as an executable scheme, the vehicle position measurement terminal device based on the position estimation may be a computing device such as a desktop computer, a notebook computer, a palm computer, a cloud server, and the like. The vehicle position measurement terminal device based on the position estimation may include, but is not limited to, a processor and a memory. It will be appreciated by those skilled in the art that the above-described composition of the vehicle position measurement terminal device based on position estimation is merely an example of the vehicle position measurement terminal device based on position estimation, and does not constitute limitation of the vehicle position measurement terminal device based on position estimation, and may include more or less components than those described above, or may be combined with some components, or different components, for example, the vehicle position measurement terminal device based on position estimation may further include an input/output device, a network access device, a bus, and the like, which is not limited in the embodiment of the present invention.
Further, as an executable scheme, the Processor may be a central processing unit (Central Processing Unit, CPU), other general purpose Processor, digital signal Processor (DIGITAL SIGNAL Processor, DSP), application SPECIFIC INTEGRATED Circuit (ASIC), field-Programmable gate array (Field-Programmable GATE ARRAY, FPGA) or other Programmable logic device, discrete gate or transistor logic device, discrete hardware components, etc. The general-purpose processor may be a microprocessor or the processor may be any conventional processor or the like, and the processor is a control center of the vehicle position measurement terminal device based on position estimation, and various interfaces and lines are used to connect various parts of the entire vehicle position measurement terminal device based on position estimation.
The memory may be used to store the computer program and/or the module, and the processor may implement various functions of the vehicle position measurement terminal device based on the position estimation by running or executing the computer program and/or the module stored in the memory and calling the data stored in the memory. The memory may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, at least one application program required for a function; the storage data area may store data created according to the use of the cellular phone, etc. In addition, the memory may include high-speed random access memory, and may also include non-volatile memory, such as a hard disk, memory, plug-in hard disk, smart memory card (SMART MEDIA CARD, SMC), secure Digital (SD) card, flash memory card (FLASH CARD), at least one disk storage device, flash memory device, or other volatile solid-state storage device.
The present invention also provides a computer readable storage medium storing a computer program which when executed by a processor implements the steps of the above-described method of an embodiment of the present invention.
The integrated module/unit of the vehicle position measurement terminal device based on position estimation may be stored in a computer readable storage medium if implemented in the form of a software functional unit and sold or used as a separate product. Based on such understanding, the present invention may implement all or part of the flow of the method of the above embodiment, or may be implemented by a computer program to instruct related hardware, where the computer program may be stored in a computer readable storage medium, and when the computer program is executed by a processor, the computer program may implement the steps of each of the method embodiments described above. Wherein the computer program comprises computer program code which may be in source code form, object code form, executable file or some intermediate form etc. The computer readable medium may include: any entity or device capable of carrying the computer program code, a recording medium, a U disk, a removable hard disk, a magnetic disk, an optical disk, a computer Memory, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a software distribution medium, and so forth.
While the invention has been particularly shown and described with reference to a preferred embodiment, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (8)
1. A vehicle position measurement method based on position estimation, comprising the steps of:
S1: initially setting time t=0, and simultaneously setting vehicle position S (t) at t=0 as vehicle position S 2 (t) measured by the distance measuring instrument;
s2: let t=t+1;
S3: calculating a vehicle estimated position S 1 (t) at the time t according to the vehicle position S (t-1) at the time t-1 and the running speed of the vehicle;
S4: calculating the vehicle position S (t) at the moment t according to the estimated position S 1 (t) of the vehicle at the moment t, the state of the distance measuring instrument and the vehicle position S 2 (t) measured by the distance measuring instrument at the moment t, if the running distance of the vehicle under the condition of abnormal state of the distance measuring instrument is greater than a distance threshold value, carrying out distance measuring abnormal alarm until the fault is cleared, and returning to S1 for re-execution; otherwise, returning to S2;
the specific process of step S4 is as follows:
S401: calculating a difference value between a measured position S 2 (t) of the distance measuring instrument at the time t and a predicted position S 1 (t) of the vehicle, setting the vehicle position S (t) at the time t as the measured position S 2 (t) of the distance measuring instrument when the difference value is smaller than a difference value threshold, setting the vehicle position S 3 when the result of the distance measuring instrument is wrong as the measured position S 2 (t) of the distance measuring instrument, and returning to S2; otherwise, the vehicle position S (t) at the time t is set as the estimated vehicle position S 1 (t), and the vehicle position S 3 when the result of the distance measuring instrument is incorrect is set as the estimated vehicle position S 1 (t), and the process goes to S402;
S402: judging whether S 3 is equal to S 2 (t-1), if so, setting S 3＝S1 (t), and entering S403; otherwise, setting S 3 unchanged, and entering S403;
s403: judging whether the absolute value S 1(t)-S3 is larger than the distance threshold value or not, if so, carrying out ranging abnormality alarming until the fault is cleared, and returning to S1 to execute again; otherwise, return to S2.
2. The vehicle position measurement method based on position estimation according to claim 1, wherein: the distance measuring instrument is a laser distance measuring instrument.
3. The vehicle position measurement method based on position estimation according to claim 1, wherein: in step S3, the calculation formula of the estimated vehicle position S 1 (t) at time t is as follows:
S1(t)＝S(t-1)+vΔT
Where v denotes the running speed of the vehicle at time T, and Δt denotes the time difference between time T and time T-1.
4. A vehicle position measurement method based on position estimation as claimed in claim 3, wherein: the running speed v of the vehicle at the time t is obtained by multiplying the output frequency f of the vehicle motor frequency converter by the reduction ratio coefficient K.
5. The vehicle position measurement method based on position estimation according to claim 4, wherein: the method for calculating the reduction ratio coefficient K of the vehicle comprises the following steps: controlling the vehicle to travel from the point A to the point B at a constant speed, recording the output frequency f and the travel time T of the frequency converter in the traveling process, and measuring the distance delta S (A, B) between the point A and the point B by a distance measuring instrument, wherein the distance delta S (A, B) is as follows:
6. The vehicle position measurement method based on position estimation according to claim 1, wherein: a fixed time interval is adopted between the time t-1 and the time t.
7. A vehicle position measurement terminal device based on position estimation, characterized in that: comprising a processor, a memory and a computer program stored in the memory and running on the processor, which processor, when executing the computer program, carries out the steps of the method according to any one of claims 1 to 6.
8. A computer-readable storage medium storing a computer program, characterized in that: the computer program, when executed by a processor, implements the steps of the method according to any one of claims 1 to 6.
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| CN110039036A (en) * | 2019-04-19 | 2019-07-23 | 山信软件股份有限公司 | A kind of converter buggy ladle, the slag car are anti-to open overtravel technology |
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| JP2697442B2 (en) * | 1991-12-26 | 1998-01-14 | 三菱自動車工業株式会社 | Inter-vehicle distance detection and alarm device |
| JPH10186033A (en) * | 1996-12-25 | 1998-07-14 | Isuzu Motors Ltd | Vehicle distance measuring device |
| JP2008196906A (en) * | 2007-02-09 | 2008-08-28 | Sumitomo Electric Ind Ltd | Vehicle position detection system, on-board equipment and vehicle position detection method |
| JP2008267920A (en) * | 2007-04-18 | 2008-11-06 | Ihi Corp | Laser range finding device and laser range finding method |
| CN105388482A (en) * | 2015-10-22 | 2016-03-09 | 四川膨旭科技有限公司 | System for alarming vehicle distance during vehicle driving process |
| CN107092253B (en) * | 2017-04-24 | 2020-06-30 | 百度在线网络技术（北京）有限公司 | Method and device for controlling unmanned vehicle and server |
| CN107450567A (en) * | 2017-09-25 | 2017-12-08 | 芜湖智久机器人有限公司 | A kind of AGV trolley control systems for being used for warehouse or workshop automatic transportation |
| CN108127096A (en) * | 2018-02-12 | 2018-06-08 | 山东钢铁股份有限公司 | A kind of transverse-moving trolley localization method and system |
| JP2020098196A (en) * | 2019-10-23 | 2020-06-25 | パイオニア株式会社 | Estimation device, control method, program, and storage medium |
| CN111826492B (en) * | 2020-06-03 | 2021-09-28 | 中冶南方工程技术有限公司 | Automatic slag tapping control method and system for linked slag car and converter |
| CN111856510A (en) * | 2020-08-03 | 2020-10-30 | 北京理工大学重庆创新中心 | Vehicle front collision prediction method based on laser radar |
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| CN110039036A (en) * | 2019-04-19 | 2019-07-23 | 山信软件股份有限公司 | A kind of converter buggy ladle, the slag car are anti-to open overtravel technology |
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