CN114906239B - Intelligent trackless train, ultra-long cargo transport vehicle, forward and reverse control method - Google Patents
Intelligent trackless train, ultra-long cargo transport vehicle, forward and reverse control method Download PDFInfo
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- CN114906239B CN114906239B CN202210449940.3A CN202210449940A CN114906239B CN 114906239 B CN114906239 B CN 114906239B CN 202210449940 A CN202210449940 A CN 202210449940A CN 114906239 B CN114906239 B CN 114906239B
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- 230000007246 mechanism Effects 0.000 claims description 30
- 239000000446 fuel Substances 0.000 claims description 13
- 230000008569 process Effects 0.000 claims description 11
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- 230000005540 biological transmission Effects 0.000 claims description 8
- 230000008859 change Effects 0.000 claims description 6
- 238000006243 chemical reaction Methods 0.000 claims description 6
- 230000009466 transformation Effects 0.000 claims description 5
- 230000009471 action Effects 0.000 claims description 3
- 230000001131 transforming effect Effects 0.000 claims 4
- 230000005611 electricity Effects 0.000 abstract description 2
- 238000005265 energy consumption Methods 0.000 description 4
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D53/00—Tractor-trailer combinations; Road trains
- B62D53/005—Combinations with at least three axles and comprising two or more articulated parts
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60D—VEHICLE CONNECTIONS
- B60D1/00—Traction couplings; Hitches; Draw-gear; Towing devices
- B60D1/01—Traction couplings or hitches characterised by their type
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L50/00—Electric propulsion with power supplied within the vehicle
- B60L50/50—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D12/00—Steering specially adapted for vehicles operating in tandem or having pivotally connected frames
- B62D12/02—Steering specially adapted for vehicles operating in tandem or having pivotally connected frames for vehicles operating in tandem
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D59/00—Trailers with driven ground wheels or the like
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T30/00—Transportation of goods or passengers via railways, e.g. energy recovery or reducing air resistance
Abstract
The invention relates to an intelligent trackless train, an ultra-long cargo transport vehicle and a forward and reverse control method, wherein a tractor and a trailer are combined, and the train running of a plurality of vehicles is realized based on the forward and reverse control method, and when the vehicles advance and reverse, the running track of the first vehicle along the running direction is acquired through a positioning and steering control module implanted in the train, and the other vehicles are controlled to steer along the running track, so that the running efficiency of the train running vehicles can be greatly improved; meanwhile, the range extender trailer is positioned at the tail part of the driving queue, the electricity is conveniently replaced and stored, the driving mileage of the vehicle can be effectively increased, and the cruising ability is high.
Description
Technical Field
The invention relates to the technical field of vehicle engineering, in particular to an intelligent trackless train, an ultra-long cargo transportation vehicle and a forward and reverse control method.
Background
In the field of vehicle engineering, improving driving efficiency, reducing energy consumption and improving vehicle endurance are important directions and targets of development; at present, a large commercial vehicle, particularly a freight vehicle, can greatly improve driving efficiency if running in a train and realizing electric operation, greatly reduces energy consumption cost, and has important significance for carbon-to-carbon neutralization; however, when the road train turns, the running track of the front and rear vehicles is inconsistent, and the energy consumption is higher when the large commercial vehicle, particularly the heavy truck, runs; for these two reasons, on the one hand, it is difficult to achieve normal running of a long road train, and on the other hand, the popularization of large electric vehicles is still difficult due to the limited energy density of the chemical power batteries.
If the automatic steering control of the vehicle can be realized and the vehicle can be intelligently driven in a row, the driving efficiency is greatly improved; meanwhile, the range extender is a feasible electric vehicle energy supplementing scheme, and only the existing range extender is complex and inconvenient to operate and use; therefore, the invention develops an intelligent trackless train, an ultra-long cargo transportation vehicle and a forward and reverse control method to solve the problems in the prior art, and the technical proposal which is the same as or similar to the invention is not found through searching.
Disclosure of Invention
The invention aims at: the intelligent trackless train, the ultra-long cargo transport vehicle and the forward and reverse control method are provided, so that the problems that in the prior art, the train running difficulty of the vehicles is high, the driving efficiency is difficult to improve and the endurance mileage of a large-sized electric vehicle is short are solved.
The technical scheme of the invention is as follows: an intelligent trackless train is characterized by comprising:
a plurality of vehicles running in a row, including a tractor running at the first position and a plurality of trailers running along with the tractor, wherein, the range extender trailer is positioned at the tail part of the running queue in the plurality of trailers;
the positioning and steering control module is implanted in all vehicles, acquires the running track of the first vehicle along the running direction when the vehicles go forward and reverse, and controls the other vehicles to steer along the running track.
Preferably, the positioning and steering control module includes:
the positioning module is respectively implanted into each vehicle to acquire real-time position information of the center point of each trailer axle relative to the tractor;
the inertial navigation module is implanted in the tractor and is used for calculating the running track of the first vehicle along the running direction;
the steering controller and the electric steering mechanism are respectively implanted in each vehicle and can control the steering of each trailer.
Preferably, the trailer further comprises an electric drive mechanism for providing power, a hinge mechanism for enabling articulation of the front and rear vehicles; the positioning module comprises an angle measuring device which is arranged on the hinging mechanism;
the hinge mechanism comprises a front vehicle hinge part fixed with the tail part of a front vehicle and a rear vehicle hinge part fixed with the front part of a rear vehicle, wherein the front vehicle hinge part is provided with a hinge main pin, and the rear vehicle hinge part is provided with a hinge ring matched with the hinge main pin to realize hinge;
the angle measuring device comprises a sensor base, a jackscrew, an angle sensor, a bracket, a universal transmission shaft, spline grooves and splines; the sensor base is fixed on the front vehicle hinge piece and is coaxial with the hinge main pin; the angle sensor is fixed in the sensor base and is provided with a stator and a rotor; the support is fixed on the rear vehicle hinge piece, and the spline is arranged on the upper part of the support and is coaxial with the hinge ring; the universal transmission shaft both ends have the universal joint respectively, and one end universal joint and angle sensor's rotor fixed connection, other end universal joint and spline fixed connection, the spline grafting is mated in the spline inslot.
Preferably, the range extender trailer further comprises a power supply and a fairing, wherein the power supply can be one or a combination of a chemical battery, a fuel battery and a generator, and the fairing is matched with the front vehicle in shape so that the whole train is streamline.
Based on an intelligent trackless train, the invention also develops an ultra-long cargo transportation vehicle, which comprises the tractor and a trailer, a positioning and steering control module implanted in the tractor and the trailer, a pin shaft arranged on the tractor, and a steering tray inserted into the pin shaft, wherein the steering tray can rotate around the pin shaft;
one end of the overlong goods is fixed on the steering trailer, the other end of the overlong goods is fixed on the trailer, and the trailer runs along the running track of the tractor and turns under the action of the positioning and steering control module.
Based on an intelligent trackless train, the invention also develops a vehicle forward control method, which comprises the following steps:
(1) Defining a coordinate system and a time series to obtain a central point F of the front axle of the tractor 1 The coordinate system Z is defined by taking the coordinate origin as the coordinate origin, wherein the Y-axis positive direction is along the direction of the vehicle body and the side facing the vehicle head, the X-axis positive direction is perpendicular to the direction of the vehicle body and the right side facing the vehicle body;
defining a time sequence k, wherein any moment is k moment;
(2) Initializing, wherein k=0;
(3) After the time Δt, the time series k increases by 1, i.e., k=k+1;
(4) The positioning module calculates the position coordinates of each trailer under the tractor coordinate system;
(5) The inertial navigation module is used for calculating the running track of the tractor based on the tractor coordinate system;
(6) The steering controller controls the electric steering mechanism corresponding to each trailer to realize steering based on the coordinate value of the axle center point of each trailer under the coordinate system and the running track of the tractor;
(7) If the vehicle exits the running state, ending the steps; if the vehicle continues to run, the process returns to step (3).
Preferably, in the step (4), a position coordinate of each trailer in a tractor coordinate system is determined by using an inter-vehicle angle measurement device, and the specific method is as follows:
when the front and rear vehicles turn relatively, spline grooves fixedly mounted on the rear vehicle hinging piece drive the spline to rotate, and the universal transmission shaft drives the rotor of the angle sensor to rotate, so that the relative turning angle between the front and rear vehicles is measured, and the relative position relation of each hanging workshop and the coordinates under the tractor coordinate system are calculated by further combining with the vehicle size chain.
Preferably, in the step (5), the method for calculating the driving track of the tractor based on the self coordinate system includes:
(1) Giving the coordinates of the central point of the front axle of the tractor at the moment k, and at the moment k, giving the central point F of the front axle of the tractor 1 Is the origin of coordinates, its coordinates are F 1k (x 1k ＝0,y 1k ＝0)；
(2) Estimating a change parameter of a coordinate system Z from the moment k-1 to the moment k, wherein the rotation angle theta of the tractor from the moment k-1 to the moment k is calculated k ，θ k ＝ω k *Δt，ω k The rotation angular velocity of the tractor at the moment k can be measured by a gyroscope of the inertial navigation module; the front axle center point F is monitored by a vehicle speed sensor arranged on the tractor 1 Velocity at time k is v k And (3) calculating:
x-axis variation a= - Δt×v k *sinθ k ，
Y-axis variation b=Δt×v k *cosθ k ；
(3) Coordinate transformation, which is performed before the k-1 time and includes the k-1 time, F 1 (F 1k-1 ,F 1k-2 ,…,F 1k-n ) Is transformed into the coordinate value of the current k moment coordinate system, wherein the origin of the coordinate is represented by F 1k-1 Conversion to F 1k Rotation angle theta of coordinate system k The transformed X-axis and Y-axis coordinate values are respectively:
x 1m ’＝(x 1m -a)*cosθ k +(y 1m -b)*sinθ k ，
y 1m ’＝(y 1m -b)*cosθ k -(x 1m -a)*sinθ k ；
wherein, the value of m is k-1, k-2, … … and k-n in sequence; defining axle center point of tail trailer as F R Trailer axle center point F at the end of k R Y-axis coordinate value in tractor coordinate system is Y RK The value is resolvable by the positioning module; y is to be ensured 1m ’＞y RK To determine the value of n, when y 1m ’＜y RK At this point, the point is already behind the trailing trailer axle;
(4) According to the central point F of the front axle in the running process of the tractor under the coordinate system of the current moment (K moment) 1 Coordinate position F at different moments in time 1k ,F 1k-1 ,F 1k-2 ,…,F 1k-n The driving track can be fitted.
Based on an intelligent trackless train, the invention also develops a vehicle reversing control method, which comprises the following steps:
when the vehicle is reversed, the electric steering mechanism of the trailer at the tail of the vehicle train is controlled by the steering wheel in the tractor, and the steering of the trailer at the tail of the vehicle train is directly controlled; the steering of other vehicles is controlled by a positioning and steering control module, and each vehicle is controlled to automatically steer along the tail trailer track by acquiring the running track of the central point of the tail trailer axle;
the method comprises the following specific steps:
(1) Defining a coordinate system and a time sequence; with the front axle centre point F of the tractor 1 A coordinate system Z is defined by taking the coordinate origin as a Y-axis positive direction along the direction of the vehicle body and one side facing the vehicle head, and taking the X-axis positive direction perpendicular to the direction of the vehicle body and facing the right side of the vehicle body;
defining a time sequence k, wherein any moment is k moment;
(2) Initializing, wherein k=0;
(3) After the time Δt, the time series k increases by 1, i.e., k=k+1;
(4) The positioning module calculates the position coordinates of the axle center point of each vehicle under the tractor coordinate system;
(5) The inertial navigation module calculates the running track of the tail trailer based on the tractor coordinate system;
(6) Except the tail trailer, the steering controller of each vehicle comprising a tractor and other trailers controls the electric steering mechanism of each vehicle based on the coordinate value of each vehicle under the coordinate system and the running track of the tail trailer, so that each vehicle backs up along the track of the tail trailer;
(7) If the vehicle exits the running state, ending the steps; if the vehicle continues to run, the process returns to step (3). Preferably, the method for calculating the running track of the trailer in the step (5) specifically includes:
(1) The positioning module calculates the center point F of the trailer axle at the current moment under the coordinate system Z R Coordinate value F of (2) Rk (x Rk ，y Rk )；
(2) Estimating a change parameter of a coordinate system Z from the moment k-1 to the moment k, wherein the rotation angle theta of the tractor from the moment k-1 to the moment k is calculated k ，θ k ＝ω k *Δt，ω k The rotation angular velocity of the tractor at the moment k can be measured by a gyroscope of the inertial navigation module; the front axle center point F is monitored by a vehicle speed sensor arranged on the tractor 1 Velocity at time k is v k And (3) calculating:
x-axis variation a= - Δt×v k *sinθ k ，
Y-axis variation b=Δt×v k *cosθ k ；
(3) Coordinate transformationChanging, before the k-1 time, and including the k-1 time, F R (F Rk-1 ,F Rk-2 ,…,F Rk-n ) Is transformed into the coordinate value of the current k moment coordinate system, wherein the origin of the coordinate is represented by F 1k-1 Conversion to F 1k Rotation angle theta of coordinate system k The transformed X-axis and Y-axis coordinate values are respectively:
X Rm ’＝(x Rm -a)*cosθ k +(y Rm -b)*sinθ k ，
Y Rm ’＝(y Rm -b)*cosθ k -(x Rm -a)*sinθ k ；
wherein m is k-1, k-2, … …, k-n in sequence, and y is ensured Rm ’<0 to determine the value of n, when reversing, the running direction is the front, when y Rm ’>0, this point is already behind the direction of travel of the front axle of the tractor;
(4) According to the axle center point F in the running process of the trailer at the current K moment R Position F at different moments in time Rk ,F Rk-1 ,F Rk-2 ,…,F Rk-n The driving track can be fitted.
Compared with the prior art, the invention has the advantages that:
(1) The invention combines the tractor with the trailer, realizes the train running of the vehicles based on the forward and reverse control methods, and can greatly improve the driving efficiency; meanwhile, the range extender trailer is positioned at the tail part of the driving queue, the electricity is conveniently replaced and stored, the driving mileage of the vehicle can be effectively increased, and the cruising ability is high.
(2) The function of the range extender trailer is to provide electric energy in various forms, including one or a combination of a plurality of chemical batteries, fuel cells and generators; by adopting the independent transport carrier, only a parking space and a charging pile are needed, and the vehicle can be almost unattended; the whole structure is flexible to set, so that the large electric vehicle can run across climates for a long distance, and the large electric vehicle can be used as a mobile charging power supply of a passenger vehicle; the outer cover is provided with a fairing to reduce the air resistance of the vehicle.
Drawings
The invention is further described below with reference to the accompanying drawings and examples:
FIG. 1 is a top view of an intelligent trackless train according to the present invention;
FIG. 2 is an enlarged view of the structure of the hinge mechanism and the angle sensor according to the present invention;
FIG. 3 is an enlarged view of the arrangement of the range extender trailer according to the present invention;
FIG. 4 is a schematic view of an ultralong cargo transporter according to the present invention;
FIG. 5 is a flow chart of a vehicle forward control method according to the present invention;
fig. 6 is a flowchart of a vehicle reverse control method according to the present invention.
Wherein: 1. a tractor;
2. a trailer, 21, an electric drive mechanism;
3. a range extender trailer, 31, fairing;
4. a hinging mechanism 41, a front vehicle hinging piece 42, a rear vehicle hinging piece 43, a master pin 44 and a hinging ring;
5. the angle measuring device 51, the sensor base 52, the angle sensor 53, the bracket 54, the universal transmission shaft 55, the spline groove 56 and the spline;
6. steering wheel, 61, round pin axle.
Detailed Description
The following describes the present invention in further detail with reference to specific examples:
an intelligent trackless train comprises a plurality of vehicles running in a train and a positioning and steering control module.
As shown in fig. 1, regarding a plurality of vehicles running in a row, including a tractor 1 running at the head, and a plurality of trailers 2 following the tractor 1, a range extender trailer 3 is located at the tail of the running row among the plurality of trailers 2; the trailer 2 further comprises an electric drive 21 for providing power, a hinge mechanism 4 for enabling articulation of the vehicle in front and rear, and an angle measuring device 5 mounted on the hinge mechanism 4.
The electric driving mechanism 21 is used for providing power for the trailer 2, so that the power performance of the vehicle is improved, the climbing acceleration is more flexible, and the power of the tractor 1 can be reduced under the same power requirement.
As shown in fig. 2, the hinge mechanism 4 includes a front vehicle hinge member 41 fixed to the rear of the front vehicle, and a rear vehicle hinge member 42 fixed to the front of the rear vehicle, the front vehicle hinge member 41 having a hinge main pin 43, and the rear vehicle hinge member 42 having a hinge ring 44 engaged with the hinge main pin 43 to realize the hinge.
As shown in fig. 2, the angle measuring device 5 includes a sensor base 51, a jack screw, an angle sensor 52, a bracket 53, a universal drive shaft 54, spline grooves 55, and splines 56; the sensor base 51 is fixed to the front vehicle hinge 41 and is coaxial with the hinge king pin 43; the angle sensor 52 is fixed in the sensor base 51, and has a stator and a rotor; the bracket 53 is fixed on the rear car hinge member 42, and the spline 56 is arranged on the upper part of the bracket and is coaxial with the hinge ring 44; the universal transmission shaft 54 has universal joints at both ends respectively, and one end universal joint is fixedly connected with the rotor of the angle sensor 52, and the other end universal joint is fixedly connected with the spline 56, and the spline 56 is inserted and matched in the spline groove 55.
The range extender trailer 3 further comprises a power supply and a fairing 31, wherein the power supply can be one or a combination of a plurality of chemical batteries, fuel batteries and generators, and is generally a chemical battery, mainly because the fuel batteries are high in current price and small in power; in special cases, when the chemical battery or the fuel battery is inconvenient to use, a fuel generator can be used for replacing the chemical battery or the fuel battery; if the battery is used under special weather conditions such as high temperature and cold or under conditions that the chemical battery cannot meet the requirements when driving in mountainous areas; as shown in fig. 3, the cowling 31 is streamlined for reducing the air resistance of the vehicle; when the vehicle runs at a high speed, the energy consumption is consumed by air resistance to a great extent; whereas the air resistance of the vehicle is due not only to an increase in the front air flow pressure, but to a considerable extent to a decrease in the rear air flow pressure; the fairing 31 is matched with the front vehicle to streamline the train, so that the shape of the wake flow field of the train can be effectively improved without changing the shape of the head of the train, and the integral pressure of the tail airflow is relatively increased, thereby greatly reducing the air resistance.
Regarding the use of the range extender trailer 3, the range extender trailer 3 is hinged to the tail of a vehicle, when the electric quantity is used up, the range extender trailer 3 can be replaced at a power exchange station, and only the hinging mechanism 4 is required to be unlocked and unhooked, and a new range extender trailer 3 is required to be replaced; if the replaced range extender is a chemical battery range extender, charging; if the fuel cell is a fuel cell, filling hydrogen; if the device is a range extender of a fuel generator, the fuel or other fuels can be refilled.
The positioning and steering control module is implanted into all vehicles, acquires a running track of a first vehicle along the running direction when the vehicles go forward and reverse, and controls other vehicles to steer along the running track; the device mainly comprises a positioning module, an inertial navigation module, a steering controller and an electric steering mechanism; the positioning modules are respectively implanted in each vehicle to acquire real-time position information of the axle center point of each trailer 2 relative to the tractor 1, and the angle measuring device 5 arranged on the hinging mechanism 4 belongs to a component part of the positioning module, and the angle measuring device 5 has the functions that: because the relative motion between the front and rear vehicles is complex, namely, the relative motion along the X axis, the Y axis and the Z axis is included, and the relative rotation along the X axis, the Y axis and the Z axis is also included; the angle measuring device 5 in the embodiment can measure the relative horizontal rotation angle of the front and rear vehicles with higher precision under the condition of the relative complex motion of the front and rear vehicles; the inertial navigation module generally comprises a gyroscope and a vehicle speed sensor, and is implanted into the tractor 1 for resolving a running track of a first vehicle along a running direction; a steering controller and an electric steering mechanism, which are respectively embedded in each vehicle, can control the steering of each trailer 2.
As shown in fig. 4, the invention further provides an ultra-long cargo transporter based on an intelligent trackless train, which comprises the tractor 1, a trailer 2, a positioning and steering control module embedded in the tractor 1 and the trailer 2, a pin 61 arranged on the tractor 1, and a steering tray 6 inserted into the pin 61, wherein the steering tray 6 can rotate around the pin 61; one end of the overlong goods is fixed on the steering wheel 6, the other end of the overlong goods is fixed on the trailer 2, and the trailer 2 runs along the running track of the tractor 1 and is steered under the action of the positioning and steering control module.
In this embodiment, there is no need to provide a hinge mechanism 4 between the tractor 1 and the trailer 2, and the extra-long cargo itself serves as a connecting member for connecting the tractor 1 and the trailer 2; meanwhile, a range extender trailer 3 can also be arranged behind the trailer 2.
Based on an intelligent trackless train, the invention also develops a vehicle forward control method, as shown in fig. 5, the forward control method specifically comprises the following steps:
A. defining a coordinate system and a time sequence, taking a front axle center point F1 of the tractor as a coordinate origin, wherein one side, which faces the locomotive along the direction of the automobile body, is a Y-axis positive direction, and the other side, which faces the right side of the automobile body, is an X-axis positive direction, and defining a coordinate system Z;
defining a time sequence k, wherein any moment is k moment;
B. initializing, wherein k=0;
C. after the time Δt, the time series k increases by 1, i.e., k=k+1;
D. the positioning module adopts an angle measuring device between vehicles to determine the position coordinates of each trailer under a tractor coordinate system, when relative rotation angles occur to front and rear vehicles, spline grooves fixedly arranged on a rear vehicle hinging piece drive splines to rotate, and a universal transmission shaft drives a rotor of an angle sensor to rotate, so that the relative rotation angles between the front and rear vehicles are measured, and the relative position relation of each trailer and the coordinates under the tractor coordinate system are calculated by further combining a vehicle size chain;
E. the inertial navigation module is used for calculating the running track of the tractor based on the tractor coordinate system, and specifically comprises the following steps:
(1) Giving the coordinates of the central point of the front axle of the tractor at the moment k, and at the moment k, giving the central point F of the front axle of the tractor 1 Is the origin of coordinates, its coordinates are F 1k (x 1k ＝0,y 1k ＝0)；
(2) Estimating a change parameter of a coordinate system Z from the moment k-1 to the moment k, wherein the rotation angle theta of the tractor from the moment k-1 to the moment k is calculated k ，θ k ＝ω k *Δt，ω k The rotation angular velocity of the tractor at the moment k can be measured by a gyroscope of the inertial navigation module;the front axle center point F is monitored by a vehicle speed sensor arranged on the tractor 1 Velocity at time k is v k And (3) calculating:
x-axis variation a= - Δt×v k *sinθ k ，
Y-axis variation b=Δt×v k *cosθ k ；
(3) Coordinate transformation, which is performed before the k-1 time and includes the k-1 time, F 1 (F 1k-1 ,F 1k-2 ,…,F 1k-n ) Is transformed into the coordinate value of the current k moment coordinate system, wherein the origin of the coordinate is represented by F 1k-1 Conversion to F 1k Rotation angle theta of coordinate system k The transformed X-axis and Y-axis coordinate values are respectively:
x 1m ’＝(x 1m -a)*cosθ k +(y 1m -b)*sinθ k ，
y 1m ’＝(y 1m -b)*cosθ k -(x 1m -a)*sinθ k ；
wherein, the value of m is k-1, k-2, … … and k-n in sequence; defining axle center point of tail trailer as F R Trailer axle center point F at the end of k R Y-axis coordinate value in tractor coordinate system is Y RK The value is resolvable by the positioning module; y is to be ensured 1m ’＞y RK To determine the value of n, when y 1m ’＜y RK At this point, the point is already behind the trailing trailer axle;
(4) According to the central point F of the front axle in the running process of the tractor under the coordinate system of the current moment (K moment) 1 Coordinate position F at different moments in time 1k ,F 1k-1 ,F 1k-2 ,…,F 1k-n The driving track can be fitted.
F. The steering controller controls the electric steering mechanism corresponding to each trailer to realize steering based on the coordinate value of the axle center point of each trailer under the coordinate system and the running track of the tractor.
G. If the vehicle exits the running state, ending the steps; if the vehicle continues to run, the step C is returned.
Based on an intelligent trackless train, the invention also develops a vehicle reversing control method, as shown in fig. 6, the reversing control method specifically comprises the following steps:
when the vehicle is reversed, the electric steering mechanism of the trailer at the tail of the vehicle train is controlled by the steering wheel in the tractor, and the steering of the trailer at the tail of the vehicle train is directly controlled; the steering of other vehicles is controlled by a positioning and steering control module, and each vehicle is controlled to automatically steer along the tail trailer track by acquiring the running track of the central point of the tail trailer axle;
the method comprises the following specific steps:
A. defining a coordinate system and a time sequence; taking a front axle center point F1 of the tractor as a coordinate origin, taking one side of the tractor, which faces the locomotive, as a Y-axis positive direction along the direction of the tractor body, and taking the side of the tractor, which faces the right side of the tractor, as an X-axis positive direction along the direction of the tractor body, so as to define a coordinate system Z;
defining a time sequence k, wherein any moment is k moment;
B. initializing, wherein k=0;
C. after the time Δt, the time series k increases by 1, i.e., k=k+1;
D. the positioning module calculates the position coordinates of the axle center point of each vehicle under the tractor coordinate system;
E. the inertial navigation module calculates the running track of the trailer at the tail based on the tractor coordinate system, and the specific method comprises the following steps:
(1) The positioning module calculates the center point F of the trailer axle at the current moment under the coordinate system Z R Coordinate value F of (2) Rk (x Rk ，y Rk )；
(2) Estimating a change parameter of a coordinate system Z from the moment k-1 to the moment k, wherein the rotation angle theta of the tractor from the moment k-1 to the moment k is calculated k ，θ k ＝ω k *Δt，ω k The rotation angular velocity of the tractor at the moment k can be measured by a gyroscope of the inertial navigation module; the front axle center point F is monitored by a vehicle speed sensor arranged on the tractor 1 Velocity at time k is v k And (3) calculating:
x-axis variation a= - Δt×v k *sinθ k ，
Y-axis variation b=Δt×v k *cosθ k ；
(3) Coordinate transformation, which is performed before the k-1 time and includes the k-1 time, F R (F Rk-1 ,F Rk-2 ,…,F Rk-n ) Is transformed into the coordinate value of the current k moment coordinate system, wherein the origin of the coordinate is represented by F 1k-1 Conversion to F 1k Rotation angle theta of coordinate system k The transformed X-axis and Y-axis coordinate values are respectively:
X Rm ’＝(x Rm -a)*cosθ k +(y Rm -b)*sinθ k ，
Y Rm ’＝(y Rm -b)*cosθ k -(x Rm -a)*sinθ k ；
wherein m is k-1, k-2, … …, k-n in sequence, and y is ensured Rm ’<0 to determine the value of n, when reversing, the running direction is the front, when y Rm ’>0, this point is already behind the direction of travel of the front axle of the tractor;
(4) According to the axle center point F in the running process of the trailer at the current K moment R Position F at different moments in time Rk ,F Rk-1 ,F Rk-2 ,…,F Rk-n The driving track can be fitted.
F. Except the tail trailer, the steering controller of each vehicle comprising a tractor and other trailers controls the electric steering mechanism of each vehicle based on the coordinate value of each vehicle under the coordinate system and the running track of the tail trailer, so that each vehicle backs up along the track of the tail trailer;
G. if the vehicle exits the running state, ending the steps; if the vehicle continues to run, the step C is returned.
The above embodiments are only for illustrating the technical concept and features of the present invention, and are intended to enable those skilled in the art to understand the content of the present invention and implement the same according to the content of the present invention, and are not intended to limit the scope of the present invention. It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof, and it is therefore desired that the present invention be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein.
Claims (9)
1. An intelligent trackless train, comprising:
a plurality of vehicles traveling in a row, comprising: the system comprises a traction vehicle running at the first position, a plurality of trailers running along with the traction vehicle, and a range extender trailer which is positioned at the tail part of a running queue in the plurality of trailers; all axles of the vehicle have steering functions;
the range extender trailer comprises a fairing, wherein the fairing is matched with the front vehicle in shape so as to streamline the whole train, and therefore, the air resistance is reduced;
the positioning and steering control module is implanted in all vehicles, acquires a running track of a first vehicle along the running direction when the vehicles advance and reverse based on a tractor coordinate system, and controls the other vehicles to steer along the running track;
the trailer also comprises an electric driving mechanism for providing power and a hinging mechanism for hinging the front and rear vehicles; the positioning and steering control module comprises a positioning module, wherein the positioning module comprises an angle measuring device, and the angle measuring device is arranged on the hinging mechanism;
the hinge mechanism comprises a front vehicle hinge part fixed with the tail part of a front vehicle and a rear vehicle hinge part fixed with the front part of a rear vehicle, wherein the front vehicle hinge part is provided with a hinge main pin, and the rear vehicle hinge part is provided with a hinge ring matched with the hinge main pin to realize hinge;
the angle measuring device comprises a sensor base, a jackscrew, an angle sensor, a bracket, a universal transmission shaft, spline grooves and splines; the sensor base is fixed on the front vehicle hinge piece and is coaxial with the hinge main pin; the angle sensor is fixed in the sensor base and is provided with a stator and a rotor; the support is fixed on the rear vehicle hinge piece, and the spline is arranged on the upper part of the support and is coaxial with the hinge ring; the universal transmission shaft both ends have the universal joint respectively, and one end universal joint and angle sensor's rotor fixed connection, other end universal joint and spline fixed connection, the spline grafting is mated in the spline inslot.
2. The intelligent trackless train of claim 1, wherein: the positioning and steering control module comprises:
the positioning module is respectively implanted into each vehicle to acquire real-time position information of all axle center points of each vehicle relative to a tractor coordinate system;
the inertial navigation module is implanted in the tractor and is used for calculating the running track of the central point of the first axle along the running direction of the train;
the steering controller and the electric steering mechanism are respectively embedded in each vehicle and used for controlling the steering of the rest axles except the first axle along the running direction of the train.
3. The intelligent trackless train of claim 1, wherein: the range extender trailer further comprises a power source which can be one or a combination of a plurality of chemical batteries, fuel cells and generators.
4. An overlength cargo transportation vehicle, characterized in that: a tractor and a trailer comprising the tractor and a positioning and steering control module embedded in the tractor and the trailer as claimed in any one of claims 1-3, and further comprising a pin disposed on the tractor, a steering wheel inserted into the pin, the steering wheel being rotatable about the pin;
one end of the overlong goods is fixed on the steering trailer, the other end of the overlong goods is fixed on the trailer, and the trailer runs along the running track of the tractor and turns under the action of the positioning and steering control module.
5. A train forward control method based on an intelligent trackless train according to any one of claims 1 to 3, wherein the forward control method specifically comprises the following steps:
(1) Defining a coordinate system for the central point F of the front axle of the tractor 1 The coordinate origin is that the Y-axis positive direction is along the direction of the vehicle body and the side facing the vehicle head, and the X-axis positive direction is perpendicular to the direction of the vehicle body and the right side facing the vehicle body;
(2) The positioning module calculates coordinate values of all axle center points of all vehicles under a tractor coordinate system;
(3) The inertial navigation module calculates a front axle center point F of the tractor based on the self-coordinate system of the tractor 1 Is a driving track S of (1) 1 ；
(4) Except for the front axle of the tractor, the steering controller controls the electric steering mechanisms corresponding to the other axles to steer so that the central point of each axle is along the track S 1 Running;
(5) If the vehicle exits the running state, ending the steps; if the vehicle continues to run, the process returns to step (2).
6. The train forward control method according to claim 5, wherein: in the step (2), the method for calculating the coordinate values of the central points of all the axles of the vehicle under the tractor coordinate system comprises the following steps:
coordinate values of the central points of all axles of the tractor under a tractor coordinate system can be calculated through a vehicle body size chain;
the angle measuring device between the vehicles can be used for acquiring the hinge angles between the front and rear adjacent vehicles, and the coordinate values of the center point of each trailer axle under the tractor coordinate system can be acquired through each hinge angle and the vehicle body size chain.
7. The train forward control method according to claim 5, wherein: in the step (3), the center point F of the front axle of the tractor is calculated based on the self-coordinate system of the tractor 1 The driving track method comprises the following steps:
(1) Defining a coordinate system and a time sequence; with the front axle centre point F of the tractor 1 A coordinate system Z is defined by taking the coordinate origin as a Y-axis positive direction along the direction of the vehicle body and one side facing the vehicle head, and taking the X-axis positive direction perpendicular to the direction of the vehicle body and facing the right side of the vehicle body;
defining any moment as k moment, and increasing the time sequence k by 1 after the time deltat, namely k=k+1;
(2) Initializing, wherein k=0;
(3) After the lapse of time Δt, k=k+1;
at the new moment k, the front axle center point F of the tractor 1 Is the origin of coordinates, its coordinates are F 1k (x 1k ＝0,y 1k ＝0)；
(4) Estimating a change parameter of a coordinate system Z from the moment k-1 to the moment k, wherein the rotation angle theta of the tractor body from the moment k-1 to the moment k is calculated k ，θ k ＝ω k *Δt，ω k The rotation angular velocity of the tractor at the moment k can be measured by a gyroscope of the inertial navigation module; the front axle center point F is monitored by a vehicle speed sensor arranged on the tractor 1 Velocity at time k is v k And (3) calculating:
x-axis variation a= - Δt×v k *sinθ k ，
Y-axis variation b=Δt×v k *cosθ k ；
(5) Transforming coordinate system Z Q The track point F acquired before the k-1 moment and including the k-1 moment 1 (F 1k-1 ，F 1k-2 ，…，F 1k-n ) Transforming the coordinate value in the k-1 moment coordinate system into the coordinate value in the current k moment coordinate system, wherein the origin of the coordinate is represented by F 1k-1 Conversion to F 1k Rotation angle theta of coordinate system k The transformed X-axis and Y-axis coordinate values are respectively:
x 1m ＝(x 1m -a)*cosθ k +(y 1m -b)*sinθ k ，
y 1m ＝(y 1m -b)*cosθ k -(x 1m -a)*sinθ k ；
wherein, the coordinate value x of the left and right sides of the equation 1m ，y 1m Track point F under coordinate system of k moment and k-1 moment respectively 1m M is k-1, k-2, … …, k-n in sequence; defining a tail axle of the tail trailer as a tail axle, wherein the center point of the tail axle is marked as F R At the moment k, the center point F of the tail shaft R In tractionThe Y-axis coordinate value under the guiding coordinate system is Y RK The value is resolvable by the positioning module; to ensure the track point F 1m Y-axis coordinate value Y after completion of coordinate transformation 1m ＞y RK When y is 1m ＜y RK When this locus of points is already behind the tail shaft;
(6) According to the front axle center point F in the running process of the tractor under the current K moment coordinate system 1 Passing n+1 track points F 1k ，F 1k-1 ，F 1k-2 ，…，F 1k-n The coordinate values of the track can be fitted;
(7) If the vehicle exits the running state, ending the steps; if the vehicle continues to run, the process returns to step (3).
8. A method for controlling the reverse of a train based on an intelligent trackless train according to any one of claims 1 to 3, wherein: the reversing control method comprises the following specific steps:
defining a tail axle of the tail trailer as a tail axle, wherein the center point of the tail axle is marked as F R The method comprises the steps of carrying out a first treatment on the surface of the When the tractor is reversed, the steering wheel in the tractor does not control the front axle of the tractor to turn, but controls the tail axle to turn; the steering of the other axles is controlled by a positioning and steering control module, and the center point F of the tail shaft is obtained R Is a driving track S of (1) R Control the axles along the track S R Automatic steering;
the method comprises the following specific steps:
(1) Defining a coordinate system for the central point F of the front axle of the tractor 1 The coordinate origin is that the Y-axis positive direction is along the direction of the vehicle body and the side facing the vehicle head, and the X-axis positive direction is perpendicular to the direction of the vehicle body and the right side facing the vehicle body;
(2) The positioning module calculates the position coordinates of all axle center points of each vehicle under a tractor coordinate system;
(3) The inertial navigation module calculates the center point F of the tail shaft based on a tractor coordinate system R Is a driving track S of (1) R ；
(4) The steering controller controls the steering of the electric steering mechanisms corresponding to the other axles except the tail axle, so that the axles are in eachThe heart points all follow the track S R Running;
(5) If the vehicle exits the running state, ending the steps; if the vehicle continues to run, the process returns to step (2).
9. The method for controlling reversing of a train according to claim 8, wherein: the running track calculating method of the tail shaft center point in the step (3) specifically comprises the following steps:
(1) Defining a coordinate system and a time sequence; with the front axle centre point F of the tractor 1 A coordinate system Z is defined by taking the coordinate origin as a Y-axis positive direction along the direction of the vehicle body and one side facing the vehicle head, and taking the X-axis positive direction perpendicular to the direction of the vehicle body and facing the right side of the vehicle body;
defining any moment as k moment, and increasing the time sequence k by 1 after the time deltat, namely k=k+1;
(2) Initializing, wherein k=0;
(3) After the lapse of time Δt, k=k+1;
(4) Solving the central point F of the tail shaft at the current moment under a coordinate system Z R Coordinate value F of (2) Rk (x Rk ，y Rk )；
(5) Estimating a change parameter of a coordinate system Z from the moment k-1 to the moment k, wherein the rotation angle theta of the tractor from the moment k-1 to the moment k is calculated k ，θ k ＝ω k *Δt，ω k The rotation angular velocity of the tractor at the moment k can be measured by a gyroscope of the inertial navigation module; the front axle center point F is monitored by a vehicle speed sensor arranged on the tractor 1 Velocity at time k is v k And (3) calculating:
x-axis variation a= - Δt×v k *sinθ k ，
Y-axis variation b=Δt×v k *cosθ k ；
(6) Transforming a coordinate system Z, wherein the coordinate system Z is obtained before the k-1 moment and comprises the tail shaft center point F obtained at the k-1 moment R Passing n track points F R (F Rk-1 ，F Rk-2 ，…，F Rk-n ) Transforming the coordinate value in the k-1 moment coordinate system into the coordinate value of the current k moment coordinate system, wherein the origin of the coordinate is represented by F 1k-1 Conversion to F 1k Rotation angle theta of coordinate system k The transformed X-axis and Y-axis coordinate values are respectively:
X Rm ＝(x Rm -a)*cosθ k +(y Rm -b)*sinθ k ，
Y Rm ＝(y Rm -b)*cosθ k -(x Rm -a)*sinθ k ；
wherein, the coordinate value x of the left and right sides of the equation Rm ，y Rm Track point F under coordinate system of k moment and k-1 moment respectively Rm M is k-1, k-2, … …, k-n in order, and ensures the track point F Rm Y-axis coordinate value Y after completion of coordinate transformation Rm <0, when the vehicle is reversed, the running direction is the front, and when y Rm >0, the track point is at the rear of the front axle running direction of the tractor;
(7) According to the coordinate system at the current K moment, the center point F of the tail shaft R A group of passing track points F Rk ，F Rk-1 ，F Rk-2 ，…，F Rk-n Coordinate values of (a) and fitting the driving track S R ；
(8) If the vehicle exits the running state, ending the steps; if the vehicle continues to run, the process returns to step (3).
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| CN116039762B (en) * | 2023-01-11 | 2023-08-25 | 苏州立方元智能科技有限公司 | Multi-axle vehicle system for train running and steering control method thereof |
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