CN113822617A - Railway wagon positioning method and system for railway port station - Google Patents
Railway wagon positioning method and system for railway port station Download PDFInfo
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Abstract
The application relates to a train wagon positioning method and a train wagon positioning system for a railway port station, wherein the method comprises the following steps: sequentially identifying electronic tags on the train wagons entering the station tracks, acquiring identification information stored in the electronic tags, and generating train wagon arrangement information based on the types, models and numbers of the trains in the identification information; determining actual position information of any section of train wagon based on the running position of the track crane; and establishing a mathematical model of the train wagon position information based on the wagon arrangement information, the preset actual length information of each vehicle type wagon and the actual position information of any section of wagon, and generating the predicted position information of each section of wagon except the wagon with known actual position information. Based on the predicted position information of the target train wagon, the accurate positioning deviation of the large track crane vehicle is reduced to be within 5cm, container hoisting operation can be achieved only by inching or micro-moving the lifting appliance after the track crane reaches the target position, the automatic track crane operation time is saved by about 8-10s on average, and the automatic operation efficiency is improved to a great extent.
Description
Technical Field
The application relates to the field of container terminal loading and unloading equipment, in particular to a railway wagon positioning method and system for a railway port station.
Background
The sea-iron combined transport means that export cargos are transported to a coastal port by a railway and directly transported by a ship, or import cargos are transported to the coastal port by the ship and then transported by the railway.
The container train carriage of the railway port station is also called a train wagon. Generally, after a train arrives at a station, a trainee manually directs the train to enter a station track, and then a rail crane lifts a container on each train wagon, or the rail crane lifts the container to a corresponding train wagon.
When a train conductor manually commands a train to enter a station track, due to the fact that the inertia of the train and the specification and the model of the train are inconsistent, the stop position of each train wagon is uncertain, each time of hoisting (hoisting operation of containers is needed for multiple sections of wagons) needs to manually command a track crane to walk and align to the corresponding wagon, and the transfer efficiency is low.
Disclosure of Invention
In order to improve the transfer efficiency, the application provides a train wagon positioning method and system for a railway port station.
In a first aspect, the application provides a train wagon positioning method for a railway port station, which adopts the following technical scheme:
a train wagon positioning method for a railway port station comprises the following steps:
sequentially identifying electronic tags on the train wagons entering the station tracks, acquiring identification information stored in the electronic tags, and generating train wagon arrangement information based on the types, models and numbers of the trains in the identification information;
determining actual position information of any section of train wagon based on the running position of the track crane;
and establishing a mathematical model of the train wagon position information based on the wagon arrangement information, the preset actual length information of each vehicle type wagon and the actual position information of any section of wagon, and generating the predicted position information of each section of wagon except the wagon with known actual position information.
By adopting the technical scheme, the accurate positioning deviation of the large track crane is reduced to be within 5cm based on the predicted position information of the target wagon, the container hoisting operation can be realized only by inching or micro-moving the lifting appliance after the track crane reaches the target position, the automatic track crane operation time is averagely saved by about 8-10s, and the automatic operation efficiency is greatly improved.
Preferably, the step of determining the actual position information of any one of the carriages based on the traveling position of the track crane includes:
a lifting appliance which moves the track to the track crane aligns to any section of train wagon;
and acquiring and recording the current position information of the cart in the track crane as the actual position information of the current wagon.
Preferably, the step of acquiring and recording the current position information of the cart in the track crane as the actual position information of the current wagon, taking the center position of the cart as the current position information of the cart, and taking the actual position information of the wagon as the actual position of the center of the wagon;
the predicted position information of the railroad car is a predicted position of a center of the railroad car.
Preferably, the step of moving the rail crane to align to any section of train wagon is performed, and the step of moving the lifting appliance in the rail crane to align to the first section of train wagon or the last section of train wagon is preferably selected.
Through adopting above-mentioned technical scheme, compare in the middle car skin of selection, the hoist of preferred selection removal track crane is to aligning first section or last section car skin, is convenient for learn the position of current car skin, can need not to count in order to learn that current car skin is located the several sections.
Preferably, the method further comprises the following steps:
measuring the actual length value of the wagon of each vehicle type and storing the actual length value in a database;
and step (3) establishing a mathematical model of train wagon position information, and acquiring the actual length value of each vehicle type wagon from a database as the preset actual length information of each vehicle type wagon.
Preferably, the preset actual length information of the vehicle wagon of each vehicle type comprises carriage length information and coupler knuckle length information, wherein the vehicle wagon comprises a carriage and two coupler knuckles respectively located at two ends of the carriage.
Preferably, the step of generating the train wagon arrangement information based on the train type, the train type and the train number in the identification information includes the steps of:
the method comprises the steps that a collecting antenna arranged on a station track sends microwave carrier signals to an electronic tag on a train wagon entering the station track;
collecting information reflected by the electronic tag responding to the microwave carrier signal received by the antenna;
and carrying out data processing on the information reflected by the electronic tag to obtain identification information stored in the electronic tag, and sequencing the identification information according to the sequence of the information reflected by the electronic tag received by the acquisition antenna to generate train wagon arrangement information.
Preferably, the step of establishing a mathematical model of train railroad car position information based on the railroad car arrangement information, the actual length information of the railroad cars of each vehicle type, and the actual position information of any railroad car, and generating the predicted position information of each railroad car except for the railroad car of which the actual position information is known, further includes the steps of:
based on the predicted position information of the target wagon, the moving track is hung to the target wagon;
adjusting the position of a cart in the track crane until a lifting appliance in the track crane is aligned with a target train wagon;
determining actual position information of a current target wagon based on the running position of the track crane;
and based on the actual position information of the current target train wagon, reestablishing a mathematical model of the train wagon position information, and correcting the predicted position information of each section of the train wagon except the wagon with known actual position information.
In a second aspect, the present application provides a railway wagon positioning system for a railway port station, which adopts the following technical scheme:
a train wagon positioning system for a railway port station comprises an electronic tag, an identification and sequencing module, a positioning module and a position prediction module;
the electronic tag is arranged on the train wagon, and identification information is stored in the electronic tag and comprises a train type, a train type and a train number;
the identification sorting module is used for sequentially identifying the electronic tags on the wagons entering the station tracks, acquiring identification information stored in the electronic tags, and generating wagon arrangement information based on the wagon types, the wagon types and the wagon numbers in the identification information;
the positioning module is used for determining the actual position information of any section of train wagon based on the running position of the track crane;
the position prediction module is used for establishing a mathematical model of train wagon position information based on wagon arrangement information, preset actual length information of each vehicle type wagon and actual position information of any section of wagon, and generating predicted position information of each section of wagon except the wagon with known actual position information.
In summary, the present application includes at least one of the following beneficial technical effects:
1. the method comprises the steps of obtaining train wagon arrangement information of a train entering a station track based on RFID, generating a mathematical model of train wagon position information according to actual length information of a wagon and actual position information of any section of the wagon, obtaining predicted position information of each section of the wagon, enabling a rail crane to rapidly move to a target wagon according to the predicted position information of the target wagon, enabling accurate positioning deviation of a large trolley of the rail crane to be reduced to be within 5cm, achieving container hoisting operation only through inching or fine movement of a lifting appliance after the rail crane reaches a target position, saving the operation time of the automatic rail crane by about 8-10s on average, and greatly improving the automatic operation efficiency. Drawings
Fig. 1 is a schematic structural diagram of a track crane.
FIG. 2 is a schematic flow diagram of a railroad car positioning method at a railway port station.
Fig. 3 is a schematic table of identification information stored in the electronic tag.
Fig. 4 is a schematic table of railroad car arrangement information.
Fig. 5 is a flowchart of the generated railroad car arrangement information.
Fig. 6 is a schematic flow chart of determining actual position information of any one of the railroad cars.
Fig. 7 is a preset actual length information schematic table of each vehicle model railroad car.
Fig. 8 is a diagram of a mathematical model of train wagon position information.
Fig. 9 is a flow diagram of a process for recreating a mathematical model of railroad car position information.
FIG. 10 is a block diagram showing the construction of a railroad car positioning system for a railway port station.
Description of reference numerals: 11. a cart track; 12. a cart; 13. a trolley; 14. a hoisting mechanism; 15. a spreader;
21. an electronic tag; 22. identifying a sorting module; 221. a magnetic steel sensor; 222. collecting an antenna; 223. identifying a host; 23. a real-length storage module; 231. a laser radar; 232. a database; 24. a positioning module; 25. a location prediction module.
Detailed Description
The present application is described in further detail below with reference to figures 1-10.
The sea-iron combined transport means that export cargos are transported to a coastal port by a railway and directly transported by a ship, or import cargos are transported to the coastal port by the ship and then transported by the railway.
The container train carriage of the railway port station is also called a train wagon. When the train carriage enters a station track of a railway port station, due to the inertia of the train, the specifications and models of the train carriages are inconsistent and randomly combined, and the position of each train carriage is different when the train stops each time. The automatic track crane needs to automatically move to a target position according to the position information of each track train and an operation instruction, and automatic container hoisting operation is completed. Therefore, accurate positioning of the train wagon is an important basis for realizing automatic operation of the rail crane
The embodiment of the application discloses a train wagon positioning method for a railway port station, which is applied below the railway port station.
Referring to fig. 1, the track crane includes a cart track 11, a cart 12, a trolley 13, a hoisting mechanism 14 and a spreader 15; the running direction of the cart 12 is defined as an X axis, the travel from a coordinate origin (usually, one end of the cart track 11 is used as the coordinate origin) to the center of the hanger 15 is an X value, and usually, the center of the cart 12 and the center of the hanger 15 are located in the same plane, and the plane is parallel to a YOZ plane, that is, the coordinate value of the X axis of the center of the cart 12 and the coordinate value of the center of the hanger 15 are equal; the running direction of the trolley 13 is defined as an axis Y, and the stroke from the central line of the trolley track 11 to the center of the hanger 15 is a value Y; the running direction of the hoisting mechanism 14 is defined as the Z-axis, and the travel from the upper plane of the cart track 11 to the center of the sling 15 is the Z value.
Meanwhile, a plurality of encoders can be used to measure the moving distances of the cart 12, the trolley 13 and the lifting appliance 15, so as to obtain the coordinate value of the center of the lifting appliance 15 relative to the origin of coordinates.
The track is used for allowing the train to drive in, and the track is parallel to the cart track 11.
The train wagon positioning method for the railway port station comprises the following steps of:
referring to fig. 2, S10 sequentially identifies the electronic tags 21 on the railroad cars entering the station tracks, obtains the identification information stored in the electronic tags 21, and generates the railroad car arrangement information based on the car type, and the car number in the identification information.
Specifically, each railroad car is provided with an electronic tag 21, the electronic tag 21 is mounted on the bottom of the railroad car, and the electronic tag 21 stores identification information.
Referring to fig. 3, the identification information includes at least a vehicle type, and a vehicle number. The model of the wagon is determined by the vehicle type and the vehicle model together, for example: the model number is NX17BK or NX17K, the model number is N, the model number is flat car, and the model number is X17BK or X17K. The model "C70" or "C70H" indicates that the vehicle is a gondola vehicle, and "70" or "70H" indicates that the vehicle is a vehicle.
Meanwhile, referring to fig. 4, the railroad car arrangement information at least includes a rank, a car number, and a model number. Wherein, the sequence of the train wagons entering the station tracks is represented by the sequence.
In order to realize step S10, a magnetic steel sensor 221 is provided on the track, and when the wheels of the train are pressed from above the magnetic steel sensor 221, the magnetic steel sensor 221 outputs an acquisition signal.
The railway port station is configured with an identification host 223. The recognition host 223 is responsive to the acquisition signal to control the acquisition antenna 222 disposed on the track to be activated, and the acquisition antenna 222 is disposed between two rails of the track.
Referring to fig. 2 and 5, step S10 includes the following steps:
s11, the collecting antenna 222 installed on the track sends a microwave carrier signal to the electronic tag 21 on the railroad car entering the track.
Specifically, when the wheels of the train are pressed over the magnetic steel sensor 221 arranged on the track, the magnetic steel sensor 221 outputs an acquisition signal; the identification host 223 responds to the collection signal to control the collection antenna 222 arranged on the station track to start, so that the collection antenna 222 sends a microwave carrier signal to the electronic tag 21 on the train wagon entering the station track.
S12, the collecting antenna 222 receives the information reflected by the electronic tag 21 in response to the microwave carrier signal.
The electronic tag 21 of the railroad car receives the microwave carrier signal and reflects the information to the collecting antenna 222, and the collecting antenna 222 receives the information reflected by the electronic tag 21.
S13, performing data processing on the information reflected by the electronic tag 21 to obtain the identification information stored in the electronic tag 21, and sorting the identification information according to the sequence of obtaining the information reflected by the electronic tag 21 and received by the collecting antenna 222 to generate the train wagon arrangement information.
The collecting antenna 222 sends the received information reflected by the electronic tag 21 to the identification host 223, and the identification host 223 demodulates, decodes, processes and discriminates the information reflected by the electronic tag 21 to obtain the identification information stored in the electronic tag 21; and the identification host 223 sorts the identification information according to the order of obtaining the information reflected by the electronic tag 21 received by the collecting antenna 222, and generates the train wagon arrangement information.
Referring to fig. 2, S20, actual position information of any one of the railroad cars is determined based on the traveling position of the railcar.
Specifically, referring to fig. 2 and 6, step S20 includes the following steps:
and S21, moving the hanger 15 which is hung in the track crane by the track crane to align any section of train wagon.
Preferably, the spreader 15 in the rail crane is moved to be aligned with the first or last railroad car, and the center of the spreader 15 in the rail crane is located right above the center of the railroad car.
And S22, acquiring and recording the current position information of the cart 12 in the track crane as the actual position information of the current wagon.
At this time, based on the origin of coordinates, the position [ X, Y, Z ] of the center of the spreader 15 in the rail crane can be determined, and the current position of the cart 12 in the rail crane can be known as [ X,0], and the center position [ X,0] of the current railroad car can be used as the actual position information of the railroad car.
Referring to fig. 2, S30, a mathematical model of train wagon position information is created based on the wagon arrangement information, preset actual length information of each vehicle type wagon, and actual position information of any one of the wagons, and predicted position information of each wagon is generated except for the wagon of which the actual position information is known.
Specifically, referring to fig. 7, before step S30, the actual length value of the railroad car of each vehicle type is measured in advance and stored in the database 232. In step S30, based on the vehicle type in the wagon arrangement information, the actual length value of the wagon of the corresponding vehicle type is called from the database 232 as the preset actual length information of the wagon of each vehicle type.
It should be noted that the actual length value of the railroad car of each vehicle type can be measured by the scanning ranging mode of the two-dimensional laser radar 231. The train wagon comprises a carriage and two coupler knuckles respectively positioned at two ends of the carriage; the actual length information of the train wagon comprises carriage length information and coupler knuckle length information, wherein the carriage length information is a carriage length value, the coupler knuckle length information is a coupler knuckle length value, and the carriage length value is equal to the carriage length value plus 2 times of the coupler knuckle length value.
Meanwhile, referring to fig. 2, the identification information stored in the electronic tag 21 typically further includes a length-changed upper bit and a length-changed lower bit. The length changing high order and the length changing low order jointly determine a length changing coefficient; the length change factor is the ratio of the length of the railroad car to the standard railroad car length (11 m). Specifically, the upper bits of the length-changing coefficient are the ones bits of the length-changing coefficient, and the lower bits of the length-changing coefficient are the ten-tenth bits of the length-changing coefficient, for example: the length-changing high bit is 1, the length-changing low bit is 3, and the length-changing coefficient is 1.3.
Referring to fig. 7, there is a deviation between the vehicle length calculated based on the length change coefficient and the actual length value; therefore, in this embodiment, the actual length value of the railroad car of each vehicle type is measured by using laser ranging, and is recorded in the database 232.
Step S30, when a mathematical model of the train wagon position information is established, specifically, referring to fig. 8, taking moving the hanger 15 in the track crane to align the first wagon as an example, the obtained actual position information of any one of the wagons is the actual position information of the first wagon, that is, the current position coordinate of the cart 12 in the track crane is [ X1,0], the center position coordinate of the first wagon is [ X1,0], the center position coordinate of the second wagon is [ X1+ (L1+ L2)/2+ Δ L12,0], and the center position coordinate of the third wagon is [ X1+ (L1+ L3)/2+ L2+ (Δ L12+ Δ L23),0 ];
by analogy, the central position coordinate of the nth section of the train wagon is [ X1+ (L1+ LN)/2+ (L2+ L3+ … + LN) + (Δ L12+ Δ L23+ … + Δ LMN),0], that is, the central position coordinates of all the train wagons except the first section of the train wagon can be predicted through calculation. Wherein M = N-1, LN is the carriage length value of the train wagon with the sequence of N, and Delta LMN is the sum of the coupler knuckle length value of the train wagon with the sequence of M and the coupler knuckle length value of the train wagon with the sequence of N.
For example: referring to fig. 4 and 8, X1=6.956, L1=13m, Δ L12=0.456+0.456=0.912m, and L2=13m, the predicted position information of the second railroad car is [6.956+ (13+13)/2+0.912,0] (i.e., the predicted position information of the second railroad car is [20.868,0 ]);
ΔL23=0.456+0.498=0.954m ，L3=12.3m，…。
referring to fig. 9, after step S30, the method further includes the steps of:
and S40, based on the predicted position information of the target train wagon, the moving track is hung to the target train wagon.
For example, when the target railroad car is a third railroad car, the cart 12 of the gantry crane is rapidly moved to the coordinates [ X1+ (L1+ L3)/2+ L2+ (Δ L12+ Δ L23),0] based on the center position coordinates [ X1+ (L1+ L3)/2+ L2+ (Δ L12+ Δ L23),0] of the third railroad car.
And S50, adjusting the position of the cart 12 in the track crane until the lifting appliance 15 in the track crane is aligned with the target train wagon.
The multiple sections of train wagons are connected in sequence through the coupler knuckle to form a train, a certain installation gap exists between the coupler knuckles between two adjacent sections of train wagons, and the train wagons are influenced by air temperature and may have the phenomena of expansion with heat and contraction with cold.
After the trolley 12 of the track crane moves fast to the coordinate [ X1+ (L1+ L3)/2+ L2+ (Δ L12+ Δ L23),0], the track crane moves or the crane 15 moves slightly to realize that the crane 15 aligns to the third section of the trolley to complete the subsequent container hoisting operation.
And S60, determining the actual position information of the current target train wagon based on the running position of the track crane.
The current position coordinate of the cart 12 in the track crane is [ X3,0], the actual position information of the third section of train wagon is [ X3,0], and the predicted position information of the third section of train wagon [ X1+ (L1+ L3)/2+ L2+ (Δ L12+ Δ L23),0] and the actual position information of the third section of train wagon is [ X3,0] may have a certain deviation due to the installation gap between the coupler knuckles.
And S70, based on the actual position information of the current target train wagon, reestablishing a mathematical model of the train wagon position information, and correcting the predicted position information of each train wagon except the wagon with known actual position information.
Specifically, the predicted position information [ X1+ (L1+ L2)/2+ Δ L12,0] of the second railroad car is obtained based on the actual position information [ X1,0] of the first railroad car. And a certain deviation may exist between the predicted position information [ X1+ (L1+ L2)/2+ Δ L12,0] of the second railroad car and the actual position information [ X2,0] of the second railroad car. Thus, the mathematical model of the train railroad car position information is corrected based on the actual position information [ X2,0] of the leading railroad car, the center position coordinates of the third railroad car are [ X2+ (L2+ L3)/2+ Δ L23,0], and the corrected predicted position information of each railroad car other than the railroad car of which the actual position information is known is obtained.
Meanwhile, when the mathematical model of the train railroad car position information is corrected based on the known actual position information of the railroad car, the actual position information of the railroad car closest to the target railroad car is preferentially selected as a reference.
For example: the actual position information of the first section, the fourth section and the fifth section of the train wagon is known as [ X1,0], [ X4,0] and [ X5,0] respectively, and the target train wagon is the third section, the predicted position information of the third section of the train wagon is obtained as [ X4- (L3+ L4)/2-delta L34,0] by taking the actual position information [ X4,0] of the fourth section of the train wagon as a reference.
If the actual position information of both the side cars adjacent to the target car is known, the actual position information of any one of the side cars adjacent to the target car can be used as a reference.
Steps S40-S70 are repeated until the actual position information of all the railroad cars is obtained.
The implementation principle of the train wagon positioning method for the railway port station in the embodiment of the application is as follows: the method comprises the steps of obtaining train wagon arrangement information of a train entering a station track based on RFID, generating a mathematical model of train wagon position information according to actual length information of a wagon and actual position information of any section of the wagon, obtaining predicted position information of each section of the wagon, enabling a rail crane to rapidly move to a target wagon according to the predicted position information of the target wagon, enabling accurate positioning deviation of a large trolley 12 of the rail crane to be reduced to be within 5cm, achieving container hoisting operation only through inching of a point crane or a lifting appliance 15 after the rail crane reaches a target position, saving automatic rail crane operation time by about 8-10s on average, and greatly improving automatic operation efficiency.
The embodiment of the application also discloses a train wagon positioning system of the railway port station, which is used for realizing the positioning method.
Referring to fig. 10, the train wagon positioning system of the railway port station includes an electronic tag 21, an identification and sorting module 22, a real-length storage module 23, a positioning module 24, and a position prediction module 25;
the electronic tag 21 is arranged on the wagon and is arranged at the bottom of the carriage; the electronic tag 21 stores identification information including at least a vehicle type, and a vehicle number.
The identification sorting module 22 is configured to sequentially identify the electronic tags 21 on the cars entering the station tracks, obtain identification information stored in the electronic tags 21, and generate car arrangement information based on the car types, and car numbers in the identification information.
The identification sorting module 22 comprises a magnetic steel sensor 221, an acquisition antenna 222 and an identification host 223. The magnetic steel sensor 221 is arranged on the track, and when the wheels of the train are pressed from the upper side of the magnetic steel sensor 221, the magnetic steel sensor 221 outputs an acquisition signal. The pick-up antenna 222 is disposed between two rails of the track.
The identification host 223 is responsive to the acquisition signal to control the acquisition antenna 222 to transmit a microwave carrier signal to the electronic tag 21 of the railroad car. The electronic tag 21 on the railroad car receives the microwave carrier signal and reflects the information to the acquisition antenna 222. The collecting antenna 222 receives the information reflected by the electronic tag 21 and transmits the received information reflected by the electronic tag 21 to the identification host 223.
The identification host 223 demodulates, decodes, processes and discriminates the information reflected by the electronic tag 21 to obtain the identification information stored in the electronic tag 21; and the identification host 223 sorts the identification information according to the order of obtaining the information reflected by the electronic tag 21 received by the collecting antenna 222, and generates the train wagon arrangement information.
The real length storage module 23 includes a laser radar 231 and a database 232, and the two-dimensional laser radar 231 is used for scanning and ranging the train wagons to obtain the actual length information of the train wagons of each vehicle type, and storing the actual length information of the train wagons of each vehicle type into the database 232.
The positioning module 24 is used for determining the actual position information of any one section of train wagon based on the running position of the track crane.
The position prediction module 25 is configured to establish a mathematical model of train wagon position information based on wagon arrangement information, preset actual length information of each vehicle type wagon, and actual position information of any one section of wagon, and generate predicted position information of each section of wagon except for the wagon with known actual position information.
The above embodiments are preferred embodiments of the present application, and the protection scope of the present application is not limited by the above embodiments, so: all equivalent changes made according to the structure, shape and principle of the present application shall be covered by the protection scope of the present application.
Claims (9)
1. A train wagon positioning method for a railway port station is characterized by comprising the following steps:
sequentially identifying the electronic tags (21) on the wagons entering the station tracks, acquiring identification information stored in the electronic tags (21), and generating wagon arrangement information based on the wagon types, the wagon types and the wagon numbers in the identification information;
determining actual position information of any section of train wagon based on the running position of the track crane;
and establishing a mathematical model of the train wagon position information based on the wagon arrangement information, the preset actual length information of each vehicle type wagon and the actual position information of any section of wagon, and generating the predicted position information of each section of wagon except the wagon with known actual position information.
2. The method as claimed in claim 1, wherein the step of determining the actual position information of any railway wagon based on the traveling position of the rail crane comprises:
a lifting appliance (15) which moves the track to the track crane aligns to any section of train wagon;
and acquiring and recording the current position information of the large vehicle (12) in the track crane as the actual position information of the current wagon.
3. The railway wagon positioning method for the railway port station as claimed in claim 2, wherein the step of obtaining and recording the current position information of the cart (12) in the track crane as the actual position information of the current wagon is carried out, the central position of the cart (12) is taken as the current position information of the cart (12), and the actual position information of the wagon is the actual position of the center of the wagon;
the predicted position information of the railroad car is a predicted position of a center of the railroad car.
4. The method of claim 2, wherein the method comprises the steps of: and moving the track crane to align any section of train wagon, and preferentially selecting a lifting appliance (15) in the moving track crane to align the first section of train wagon or the last section of train wagon.
5. The method of claim 1, further comprising the steps of:
measuring the actual length value of each vehicle type wagon, and storing the actual length value into a database (232);
in the step of establishing a mathematical model of train wagon position information, the actual length value of each vehicle type wagon is obtained from a database (232) and is used as the preset actual length information of each vehicle type wagon.
6. The method of claim 1, wherein the method comprises the steps of: the preset actual length information of each vehicle type wagon comprises carriage length information and coupler knuckle length information, wherein the wagon comprises a carriage and two coupler knuckles respectively located at two ends of the carriage.
7. The method of claim 1, wherein the step of generating the train wagon arrangement information based on the type, model and number of the train in the identification information comprises the steps of:
a collection antenna (222) arranged on the station track sends microwave carrier signals to an electronic tag (21) on the train wagon entering the station track;
the collecting antenna (222) receives the information reflected by the electronic tag (21) in response to the microwave carrier signal;
and performing data processing on the information reflected by the electronic tag (21) to obtain identification information stored in the electronic tag (21), and sequencing the identification information according to the sequence of obtaining the information reflected by the electronic tag (21) and received by the acquisition antenna (222) to generate train wagon arrangement information.
8. The method of claim 1, wherein the step of building a mathematical model of the train wagon position information based on the wagon arrangement information, the actual length information of the wagons of each vehicle type, and the actual position information of any wagon, and after generating the predicted position information of each wagon except the wagon of which the actual position information is known, further comprises the steps of:
based on the predicted position information of the target wagon, the moving track is hung to the target wagon;
adjusting the position of a large trolley (12) in the track crane until a lifting appliance (15) in the track crane is aligned with a target train wagon;
determining actual position information of a current target wagon based on the running position of the track crane;
and based on the actual position information of the current target train wagon, reestablishing a mathematical model of the train wagon position information, and correcting the predicted position information of each section of the train wagon except the wagon with known actual position information.
9. The utility model provides a railway wagon positioning system of railway port station which characterized in that: comprises an electronic tag (21), an identification sorting module (22), a positioning module (24) and a position prediction module (25);
the electronic tag (21) is arranged on the wagon, and the electronic tag (21) stores identification information which comprises a vehicle type, a vehicle type and a vehicle number;
the identification sorting module (22) is used for sequentially identifying the electronic tags (21) on the wagons entering the station tracks, acquiring identification information stored in the electronic tags (21), and generating wagon arrangement information based on the wagon types, the wagon types and the wagon numbers in the identification information;
the positioning module (24) is used for determining the actual position information of any one section of train wagon based on the running position of the track crane;
the position prediction module (25) is used for establishing a mathematical model of train wagon position information based on wagon arrangement information, preset actual length information of each vehicle type wagon and actual position information of any section of wagon, and generating predicted position information of each section of wagon except the wagon with known actual position information.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110880920.7A CN113822617A (en) | 2021-08-02 | 2021-08-02 | Railway wagon positioning method and system for railway port station |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110880920.7A CN113822617A (en) | 2021-08-02 | 2021-08-02 | Railway wagon positioning method and system for railway port station |
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| CN113822617A true CN113822617A (en) | 2021-12-21 |
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