CN114355890A - Unmanned locomotive alignment calibration method and device - Google Patents
Unmanned locomotive alignment calibration method and device Download PDFInfo
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Abstract
The application relates to an alignment calibration method and device for an unmanned locomotive. The unmanned locomotive alignment calibration method comprises the following steps: braking a locomotive to obtain the instantaneous speed of the locomotive, determining whether the locomotive shakes according to the instantaneous speed, and when the locomotive shakes, obtaining the current speed by integrating the instantaneous speed in at least one shaking period; acquiring the estimated distance of the locomotive according to the current speed and the acceleration of the brake; and matching the estimated distance with the alignment distance by adjusting the acceleration of the brake to finish alignment. Whether the locomotive shakes or not is judged through the change of the instantaneous speed by obtaining the instantaneous speed of the locomotive, the instantaneous speed is integrated to obtain the current speed, the current speed can be used as a reference index for controlling the locomotive, the matching of the pre-estimated distance and the alignment distance is realized, the influence of shaking is considered in the control process of the unmanned locomotive, and the alignment precision of the locomotive is improved.
Description
Technical Field
The application relates to the technical field of industrial control, in particular to an alignment calibration method and device for an unmanned locomotive.
Background
The rail transit transportation plays a key role in logistics transportation, is particularly applied to scenes such as railways, industrial parks, wharfs and the like, has different characteristics of borne materials, influences the inertia of the materials in the acceleration and deceleration process of a locomotive, can cause the shaking of the locomotive and the borne materials and the locomotive, further influences the overall speed or acceleration of the locomotive, is not beneficial to accurately positioning the displacement of the locomotive, and causes larger system errors in the unmanned process of the locomotive.
Disclosure of Invention
Therefore, it is necessary to provide a method and a device for calibrating the alignment of an unmanned locomotive to improve the influence of material shaking on locomotive control.
In one aspect, an unmanned locomotive alignment calibration method is provided, and the unmanned locomotive alignment calibration method includes:
braking a locomotive to obtain the instantaneous speed of the locomotive, determining whether the locomotive shakes according to the instantaneous speed, and when the locomotive shakes, obtaining the current speed by integrating the instantaneous speed in at least one shaking period;
acquiring the estimated distance of the locomotive according to the current speed and the acceleration of the brake;
and matching the estimated distance with the alignment distance by adjusting the acceleration of the brake to finish alignment.
In one embodiment, the step of determining whether the locomotive is shaking from the instantaneous speed comprises:
and judging whether the instantaneous speed generates a signal step, judging that the locomotive shakes when the signal step occurs, and judging that the locomotive does not shake when the signal step does not occur.
In one embodiment, the step of braking the locomotive comprises:
and performing first braking, wherein the mathematical expression of the estimated distance is as follows:
s＝((v-(a0×Δt))2/(2a1))+(((2v-(a0×Δt))/2)×Δt1)
wherein s is the estimated distance, v is the current speed, v0For the instant speed, a0 is the coasting deceleration, a1 is the acceleration of the first brake, Δ t1 is the braking delay, t2 is the current time, t1 is the start time of one of the shaking periods, and Δ t is the integration time.
In one embodiment, the step of braking the locomotive further comprises:
and performing second braking, wherein the mathematical expression of the estimated distance is as follows:
s＝(v2)/(2a2)
where s is the estimated distance, v is the current speed, and a2 is the acceleration of the second brake.
In one embodiment, the step of braking the locomotive comprises:
and when the instantaneous speed is greater than a first speed threshold value, performing third braking, wherein the mathematical expression of the pre-estimated distance is as follows:
s＝((v+(a4×Δt))2)/(2a3))+(((2v+(a4×Δt))/2)×Δt1)
where s is the estimated distance, v is the current speed, v0 is the instantaneous speed, a4 is the current acceleration, a3 is the acceleration of the third brake, Δ t1 is the brake delay, t2 is the current time, t1 is the start time of one of the shake cycles, and Δ t is the integration time.
In one embodiment, braking the locomotive further comprises:
determining a braking distance through a first speed threshold and a first acceleration threshold;
braking the locomotive when the alignment distance of the locomotive matches the braking distance.
In one embodiment, the step of matching the estimated distance with the alignment distance by adjusting the acceleration of the brake further comprises:
and when the estimated distance is smaller than the counterpoint distance, performing neutral sliding on the locomotive.
In another aspect, an unmanned aerial vehicle alignment calibration device is provided, and the unmanned aerial vehicle alignment calibration device includes:
the braking module is used for braking the locomotive, acquiring the instantaneous speed of the locomotive, determining whether the locomotive shakes according to the instantaneous speed, and acquiring the current speed by integrating the instantaneous speed in at least one shaking period when the locomotive shakes;
the processing module is used for acquiring the estimated distance of the locomotive according to the current speed and the acceleration of the brake;
and the alignment module is used for matching the estimated distance with the alignment distance by adjusting the acceleration of the brake to complete alignment.
In another aspect, a computer device is provided, which includes a memory, a processor, and a computer program stored on the memory and executable on the processor, and the processor implements the following steps when executing the computer program:
braking a locomotive to obtain the instantaneous speed of the locomotive, determining whether the locomotive shakes according to the instantaneous speed, and when the locomotive shakes, obtaining the current speed by integrating the instantaneous speed in at least one shaking period;
acquiring the estimated distance of the locomotive according to the current speed and the acceleration of the brake;
and matching the estimated distance with the alignment distance by adjusting the acceleration of the brake to finish alignment.
In yet another aspect, a computer-readable storage medium is provided, having stored thereon a computer program which, when executed by a processor, performs the steps of:
braking a locomotive to obtain the instantaneous speed of the locomotive, determining whether the locomotive shakes according to the instantaneous speed, and when the locomotive shakes, obtaining the current speed by integrating the instantaneous speed in at least one shaking period;
acquiring the estimated distance of the locomotive according to the current speed and the acceleration of the brake;
and matching the estimated distance with the alignment distance by adjusting the acceleration of the brake to finish alignment.
According to the alignment calibration method and device for the unmanned locomotive, whether the locomotive shakes or not is judged through acquiring the instantaneous speed of the locomotive and the change of the instantaneous speed, the instantaneous speed is integrated to acquire the current speed, the current speed can be used as a reference index for controlling the locomotive, the matching between the estimated distance and the alignment distance is realized, and in the control process of the unmanned locomotive, the influence of shaking on the speed and the acceleration of the locomotive is considered, so that the alignment precision of the locomotive is improved.
Drawings
FIG. 1 is a schematic flow chart illustrating a method for aligning an unmanned aerial vehicle according to an embodiment;
FIG. 2 is a schematic illustration of shaking in one embodiment;
FIG. 3 is a diagram illustrating signal steps in one embodiment
Fig. 4 is a schematic structural diagram of an alignment calibration device for an unmanned aerial vehicle according to an embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
In the locomotive control, the shaking caused by the conventional action of materials carried by the locomotive in the acceleration and deceleration process of the locomotive and the influence of the shaking on the actual speed and the acceleration of the locomotive need to be considered, otherwise, the accurate control of the unmanned locomotive is not favorably realized. To this end, the present invention provides an unmanned aerial vehicle alignment calibration method, as shown in fig. 1, the unmanned aerial vehicle alignment calibration method includes:
s1, braking the locomotive, obtaining the instantaneous speed of the locomotive, determining whether the locomotive shakes according to the instantaneous speed, and when the locomotive shakes, obtaining the current speed by integrating the instantaneous speed in at least one shaking period;
s2, acquiring the estimated distance of the locomotive through the current speed and the acceleration of the brake;
and S3, matching the estimated distance with the alignment distance by adjusting the acceleration of the brake to complete alignment.
Whether the locomotive shakes or not is judged through the change of the instantaneous speed by obtaining the instantaneous speed of the locomotive, the instantaneous speed is integrated to obtain the current speed, the current speed can be used as a reference index for controlling the locomotive, the matching of the pre-estimated distance and the alignment distance is realized, the influence of shaking on the speed and the acceleration of the locomotive is considered in the control process of the unmanned locomotive, and the alignment precision of the locomotive is improved.
As shown in fig. 2, when the locomotive shakes, the speed of the locomotive fluctuates, in fig. 2, the ordinate is the speed of the locomotive, the abscissa is time, and the speed of the locomotive in the fluctuation is not favorable for reflecting the actual state of the current locomotive, and is further not favorable for controlling the braking and the estimated distance of the locomotive according to the fluctuating speed of the locomotive, otherwise, a large alignment deviation will be generated. In some embodiments, the step of determining whether the locomotive is shaking from the instantaneous speed comprises:
and judging whether the instantaneous speed generates a signal step, judging that the locomotive shakes when the signal step occurs, and judging that the locomotive does not shake when the signal step does not occur. As shown in fig. 3, the ordinate represents the instantaneous speed, and the abscissa represents the time, when the instantaneous speed has a signal step phenomenon, the instantaneous speed will suddenly increase and then rapidly decrease, which indicates that the material carried by the locomotive generates a force on the locomotive due to the inertia effect, and the force causes the sudden change of the instantaneous speed.
In order to control the locomotive which shakes, the requirement of accurate alignment under the condition that the locomotive shakes is met, a reference index which can reflect the speed of the locomotive is required to be obtained, and the estimated distance with high accuracy and strong reliability is fitted according to the reference index, in some embodiments, the step of braking the locomotive comprises the following steps:
and performing first braking, wherein the mathematical expression of the estimated distance is as follows:
s＝((v-(a0×Δt))2/(2a1))+(((2v-(a0×Δt))/2)×Δt1)
wherein s is the estimated distance, v is the current speed, v0For the instant speed, a0 is the coasting deceleration, a1 is the acceleration of the first brake, Δ t1 is the braking delay, t2 is the current time, t1 is the start time of one of the shaking periods, Δ t is the integration time, which may be one or more shaking periods, and may also be t2-t1, and the braking delay from the brake signal feedback to the application is also taken into account. The accuracy calibration can be performed on the alignment of the unmanned locomotive by integrating the instantaneous speed as a reference index of the locomotive speed during the shaking period. Generally, the operation of a locomotive includes: the method comprises a starting acceleration stage, a stable cruise stage, a multi-stage deceleration stage, a braking stage and an alignment stage. After through multistage speed reduction, the locomotive can be in under a lower speed running state to in advance the distance of estimating to the locomotive control, carry out first brake to the locomotive afterwards, get into the brake stage, when carrying out first brake and appear rocking, acquire current speed through instantaneous speed, and confirm the estimated distance through current speed, make the estimated distance can match the within range of counterpoint distance in a reasonable, avoid estimated distance and counterpoint distance difference great, be unfavorable for the accurate control of unmanned vehicles counterpoint.
In the braking stage, through constantly will predict the distance and counterpoint the distance and compare, and then realize predicting the distance and counterpoint the matching of distance, in order to realize the purpose of more accurate counterpoint control, can also carry out the second brake after first brake, in some embodiments, the step of braking the locomotive still includes:
and performing second braking, wherein the mathematical expression of the estimated distance is as follows:
s＝(v2)/(2a2)
where s is the estimated distance, v is the current speed, and a2 is the acceleration of the second brake. And performing deceleration control on the locomotive through the acceleration of the second brake.
Due to the complexity of the actual conditions, in the control process of the unmanned locomotive, the condition that the speed of the locomotive is still too high in the multi-stage deceleration stage is also considered, and in one embodiment, the step of braking the locomotive comprises the following steps:
and when the current speed is greater than a first speed threshold value, performing third braking, wherein the mathematical expression of the pre-estimated distance is as follows:
s＝((v+(a4×Δt))2/(2a3))+(((2v+(a4×Δt))/2)×Δt)
where s is the estimated distance, v is the current speed, a0 is the coasting deceleration, a4 is the current acceleration, a3 is the acceleration of the third brake, Δ t1 is the braking delay, t2 is the current time, t1 is the start time of one of the shake cycles, and Δ t is the integration time. When the current speed of the locomotive is greater than the first speed threshold, the acceleration of a larger brake is needed to meet the braking force requirement, so that the locomotive is prevented from colliding with a specific station to cause loss.
Under the actual working condition, the speed of the locomotive is in a lower running state through multi-stage speed reduction, and the acceleration of the brake is corrected and adjusted in real time through matching control of the estimated distance and the positioning distance, so that the alignment precision of the locomotive reaches the level of 5 cm, and the complex working condition requirement can be met.
In one embodiment, braking the locomotive further comprises:
determining a braking distance through a first speed threshold and a first acceleration threshold;
braking the locomotive when the alignment distance of the locomotive matches the braking distance. In the alignment control of the unmanned locomotive, a time node for starting braking in a braking stage can be set so as to meet the requirement of accurate control of a braking distance in the process of ensuring stable braking, for example, the first speed threshold and the first acceleration threshold of the braking stage can be set according to the locomotives with different types and different loads to meet the running stability of the locomotives during braking and the inertia requirement of the locomotives for bearing materials, further, the braking distance in the braking stage is calculated and obtained through the first speed and the first acceleration, so that the situation that the braking distance in the braking stage is short is avoided, when the locomotive needs to be subjected to alignment control, the acceleration control of the braking of the locomotive is met through the first speed threshold and the first acceleration threshold, a time node for starting the braking can be determined through the braking distance, and the accuracy requirement of the alignment control of the locomotive is improved.
In order to avoid the problem that the estimated distance of the locomotive is small due to large braking acceleration, and the matching requirement of the estimated distance and the alignment distance cannot be met, in one embodiment, the step of matching the estimated distance and the alignment distance by adjusting the braking acceleration comprises the following steps:
and when the estimated distance is smaller than the counterpoint distance, performing neutral sliding on the locomotive. The locomotive slides through the neutral gear, and the received braking force is derived from the friction force between the locomotive and the track, so that the locomotive can approach to a specific position under the condition of small resistance or deceleration acceleration, and the situation that the locomotive cannot reach a specific station is avoided after the acceleration control of braking.
As shown in fig. 4, an alignment calibration apparatus for an unmanned aerial vehicle according to an embodiment of the present invention includes:
the braking module is used for braking the locomotive, acquiring the instantaneous speed of the locomotive, determining whether the locomotive shakes according to the instantaneous speed, and acquiring the current speed by integrating the instantaneous speed in at least one shaking period when the locomotive shakes;
the processing module is used for acquiring the estimated distance of the locomotive according to the current speed and the acceleration of the brake;
and the alignment module is used for matching the estimated distance with the alignment distance by adjusting the acceleration of the brake to complete alignment.
In one embodiment, the step of determining whether the locomotive is shaking from the instantaneous speed comprises:
and judging whether the instantaneous speed generates a signal step, judging that the locomotive shakes when the signal step occurs, and judging that the locomotive does not shake when the signal step does not occur.
In one embodiment, the step of braking the locomotive comprises:
and performing first braking, wherein the mathematical expression of the estimated distance is as follows:
s＝((v-(a0×Δt))2/(2a1))+(((2v-(a0×Δt))/2)×Δt1)
wherein s is the estimated distance, v is the current speed, v0For the instant speed, a0 is the coasting deceleration, a1 is the acceleration of the first brake, Δ t1 is the braking delay, t2 is the current time, t1 is the start time of one of the shaking periods, and Δ t is the integration time.
In one embodiment, the step of braking the locomotive further comprises:
and performing second braking, wherein the mathematical expression of the estimated distance is as follows:
s＝(v2)/(2a2)
where s is the estimated distance, v is the current speed, and a2 is the acceleration of the second brake.
In one embodiment, the step of braking the locomotive comprises:
and when the instantaneous speed is greater than a first speed threshold value, performing third braking, wherein the mathematical expression of the pre-estimated distance is as follows:
s＝((v+(a4×Δt))2)/(2a3))+(((2v+(a4×Δt))/2)×Δt1)
where s is the estimated distance, v is the current speed, v0 is the instantaneous speed, a4 is the current acceleration, a3 is the acceleration of the third brake, Δ t1 is the brake delay, t2 is the current time, t1 is the start time of one of the shake cycles, and Δ t is the integration time.
In one embodiment, braking the locomotive further comprises:
determining a braking distance through a first speed threshold and a first acceleration threshold;
braking the locomotive when the alignment distance of the locomotive matches the braking distance.
In one embodiment, the step of matching the estimated distance with the alignment distance by adjusting the acceleration of the brake further comprises:
and when the estimated distance is smaller than the counterpoint distance, performing neutral sliding on the locomotive.
An embodiment of the present invention provides an electronic device, including: one or more processors; and one or more machine readable media having instructions stored thereon that, when executed by the one or more processors, cause the electronic device to perform one or more of the methods. The invention is operational with numerous general purpose or special purpose computing system environments or configurations. For example: personal computers, server computers, hand-held or portable devices, tablet-type devices, multiprocessor systems, microprocessor-based systems, set top boxes, programmable consumer electronics, network PCs, minicomputers, mainframe computers, distributed computing environments that include any of the above systems or devices, and the like.
Embodiments of the invention also provide one or more machine-readable media having instructions stored thereon, which when executed by one or more processors, cause an apparatus to perform one or more of the methods described herein. The invention may be described in the general context of computer-executable instructions, such as program modules, being executed by a computer. Generally, program modules include routines, programs, objects, components, data structures, etc. that perform particular tasks or implement particular abstract data types. The invention may also be practiced in distributed computing environments where tasks are performed by remote processing devices that are linked through a communications network. In a distributed computing environment, program modules may be located in both local and remote computer storage media including memory storage devices.
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. An alignment calibration method for an unmanned locomotive is characterized by comprising the following steps:
braking a locomotive to obtain the instantaneous speed of the locomotive, determining whether the locomotive shakes according to the instantaneous speed, and when the locomotive shakes, obtaining the current speed by integrating the instantaneous speed in at least one shaking period;
acquiring the estimated distance of the locomotive according to the current speed and the acceleration of the brake;
and matching the estimated distance with the alignment distance by adjusting the acceleration of the brake to finish alignment.
2. The unmanned aerial vehicle alignment calibration method of claim 1, wherein the step of determining whether the vehicle is in oscillation by the instantaneous speed comprises:
and judging whether the instantaneous speed generates a signal step, judging that the locomotive shakes when the signal step occurs, and judging that the locomotive does not shake when the signal step does not occur.
3. The method of claim 1, wherein the step of braking the locomotive comprises:
and performing first braking, wherein the mathematical expression of the estimated distance is as follows:
s＝((v-(a0×Δt))2/(2a1))+(((2v-(a0×Δt))/2)×Δt1)
wherein s is the estimated distance, v is the current speed, v0For the instant speed, a0 is the coasting deceleration, a1 is the acceleration of the first brake, Δ t1 is the braking delay, t2 is the current time, t1 is the start time of one of the shaking periods, and Δ t is the integration time.
4. The unmanned locomotive alignment calibration method of claim 3, wherein the step of braking the locomotive further comprises:
and performing second braking, wherein the mathematical expression of the estimated distance is as follows:
s＝(v2)/(2a2)
where s is the estimated distance, v is the current speed, and a2 is the acceleration of the second brake.
5. The method of claim 1, wherein the step of braking the locomotive comprises:
and when the instantaneous speed is greater than a first speed threshold value, performing third braking, wherein the mathematical expression of the pre-estimated distance is as follows:
s＝((v+(a4×Δt))2)/(2a3))+(((2v+(a4×Δt))/2)×Δt1)
where s is the estimated distance, v is the current speed, v0 is the instantaneous speed, a4 is the current acceleration, a3 is the acceleration of the third brake, Δ t1 is the brake delay, t2 is the current time, t1 is the start time of one of the shake cycles, and Δ t is the integration time.
6. The unmanned locomotive alignment calibration method of claim 1, wherein braking the locomotive further comprises:
determining a braking distance through a first speed threshold and a first acceleration threshold;
braking the locomotive when the alignment distance of the locomotive matches the braking distance.
7. The method of claim 1, wherein the step of matching the estimated distance to an alignment distance by adjusting the acceleration of the brakes further comprises:
and when the estimated distance is smaller than the counterpoint distance, performing neutral sliding on the locomotive.
8. An unmanned aerial vehicle alignment calibrating device, characterized in that unmanned aerial vehicle alignment calibrating device includes:
the braking module is used for braking the locomotive, acquiring the instantaneous speed of the locomotive, determining whether the locomotive shakes according to the instantaneous speed, and acquiring the current speed by integrating the instantaneous speed in at least one shaking period when the locomotive shakes;
the processing module is used for acquiring the estimated distance of the locomotive according to the current speed and the acceleration of the brake;
and the alignment module is used for matching the estimated distance with the alignment distance by adjusting the acceleration of the brake to complete alignment.
9. A computer device comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, wherein the processor when executing the computer program performs the steps of the method of aligning an unmanned locomotive according to any of claims 1-7.
10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method of alignment calibration for an unmanned aerial vehicle according to any one of claims 1 to 7.
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