CN116534072A - Coupler coupling method, device and system, control equipment and readable storage medium - Google Patents
Coupler coupling method, device and system, control equipment and readable storage medium Download PDFInfo
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- CN116534072A CN116534072A CN202310764825.XA CN202310764825A CN116534072A CN 116534072 A CN116534072 A CN 116534072A CN 202310764825 A CN202310764825 A CN 202310764825A CN 116534072 A CN116534072 A CN 116534072A
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- 238000010168 coupling process Methods 0.000 title claims abstract description 47
- 238000000034 method Methods 0.000 claims abstract description 76
- 230000008878 coupling Effects 0.000 claims abstract description 41
- 238000005859 coupling reaction Methods 0.000 claims abstract description 41
- 230000001133 acceleration Effects 0.000 claims description 24
- 230000008569 process Effects 0.000 claims description 22
- 238000004590 computer program Methods 0.000 claims description 6
- 238000010586 diagram Methods 0.000 description 12
- 230000006870 function Effects 0.000 description 4
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61G—COUPLINGS; DRAUGHT AND BUFFING APPLIANCES
- B61G7/00—Details or accessories
- B61G7/08—Adjustable coupling heads
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61G—COUPLINGS; DRAUGHT AND BUFFING APPLIANCES
- B61G3/00—Couplings comprising mating parts of similar shape or form which can be coupled without the use of any additional element or elements
- B61G3/02—Couplings comprising mating parts of similar shape or form which can be coupled without the use of any additional element or elements with interengaging movably-mounted hooks or links guided into alignment by a gathering device, e.g. "Dowty" type
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61G—COUPLINGS; DRAUGHT AND BUFFING APPLIANCES
- B61G7/00—Details or accessories
-
- 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
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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Abstract
The application provides a car coupler connecting method, a car coupler connecting device, a car coupler connecting system, control equipment and a readable storage medium, wherein the car coupler connecting method comprises the following steps: acquiring a first current position of a connected vehicle; determining the swing angle of a hitch coupler of a coupled vehicle according to the first current position and a recording table, wherein the recording table is a comparison table of preset position points of the coupled vehicle and the swing angle of the hitch coupler, and the preset position points are position points of the coupled vehicle on a curve; controlling the swinging device to adjust the angle of the coupler of the continuous hanging hook according to the swinging angle; and controlling the hitching and unhooking device to hitch the hitching hook after the angle adjustment with the hitched hook of the hitched vehicle. The coupling coupler after the angle adjustment and the coupled trailer coupler of the coupled trailer are coupled through the coupling uncoupling device, the whole coupling process is realized through the mutual cooperation of the devices, human participation is not needed, the coupling automation can be improved, and the workload of staff is reduced.
Description
Technical Field
The application relates to the field of rail transit, in particular to a car coupler connecting method, a car coupler connecting device, a car coupler connecting system, control equipment and a readable storage medium.
Background
When the trailer is used for connecting the hung railway vehicle in a curve, the coupler of the trailer deviates from the central line of the railway due to the curve, and the coupler of the trailer and the coupler of the hung railway vehicle are misplaced at the moment, so that the connection loss can be caused. In rail vehicle driving, once a loss of coupling occurs, the vehicle driving cannot be continuously performed.
At present, the angle of the coupler of the coupling vehicle is manually adjusted to finish the curve coupling, and the mode of manually adjusting the angle of the coupler is low in automation degree, large in workload of staff and unsafe.
Disclosure of Invention
In view of this, an object of the embodiments of the present application is to provide a method, an apparatus, a system, a control device, and a readable storage medium for coupling, which can improve coupling automation and reduce workload of staff.
In a first aspect, an embodiment of the present application provides a method for coupling a coupler, including: acquiring a first current position of a connected vehicle; determining the swing angle of a trailer hook of a trailer according to the first current position and a record table, wherein the record table is a comparison table of a preset position point of the trailer to be towed and the swing angle of the trailer hook, and the preset position point is a position point of the trailer to be towed on a curve; controlling a swinging device to adjust the angle of the coupler according to the swinging angle; and controlling the hooking and unhooking device to hook the trailer hook after the angle is adjusted with the trailer hook of the towed vehicle.
In the implementation process, the record table is a comparison table of the preset position point of the connected vehicle and the swing angle of the connected vehicle hook, so that the swing angle of the connected vehicle hook in the record table stored in advance can be directly determined according to the acquired first current position of the connected vehicle and the record table. The swing angle of the coupler is determined directly through a table look-up mode, the swing angle of the coupler is not required to be calculated in real time according to the position relation between the coupled vehicle and the coupled vehicle, the calculated amount of the swing angle is reduced, and the coupler coupling efficiency is improved. In addition, after the swing angle of the trailer hook is determined, the angle of the trailer hook is directly adjusted to the control swing device according to the swing angle, and the trailer hook device is used for coupling the trailer hook after the angle is adjusted with the trailer hook of the trailer to be coupled, the whole coupling process is realized through the mutual cooperation of all devices, the human participation is not needed, the automation of coupling and coupling can be improved, and the workload of staff is reduced.
In one embodiment, the determining the swing angle of the hitch coupler of the trailer according to the first current position and the record table includes: determining a position point closest to the first current position in the preset position points; and determining the swing angle corresponding to the position point closest to the first current position as the swing angle of the hitch coupler.
In the above-described implementation, since the closer the distance between the two position points is, the smaller the difference in the swing angle is relatively. Therefore, when the first current position point is not located at the preset position point in the record table, the swing angle corresponding to the position point closest to the first current position point is determined to be the swing angle of the hitch coupler, and the position point with the minimum swing angle difference with the first current position point can be determined, so that the swing angle corresponding to the position point is used as the swing angle of the first current position point, and the accuracy of the swing angle of the hitch coupler is improved.
In one embodiment, after the determining the location point closest to the first current location from the preset location points, the method further includes: judging the relation between a first distance between a position point closest to the first current position and a preset error distance; the determining that the swing angle corresponding to the position point closest to the first current position is the swing angle of the hitch coupler includes: and if the first distance is smaller than or equal to the preset error distance, determining that the swing angle corresponding to the position point closest to the first current position is the swing angle of the hitch coupler.
In one embodiment, the method further comprises: and if the first distance is larger than the preset error distance, directly controlling a hooking and unhooking device to hook the trailer hook and the trailer hook of the towed vehicle.
In the implementation process, after the first current position of the connected vehicle is obtained, whether the connected vehicle is in a straight track or a curve is determined according to the relation between the first distance between the position point closest to the first current position and the preset error distance, so that the connected vehicle and the connected vehicle are connected by adopting corresponding connecting methods according to different positions of the connected vehicle, the connecting accuracy of the connected vehicle and the connected vehicle in different types of tracks is improved, and the probability of loss of connection is reduced.
In one embodiment, before the control hitch coupler device couples the angle-adjusted hitch coupler with the towed vehicle hitch of the towed vehicle, the method further includes: determining a second distance between the first current location and a second current location of the articulated vehicle; determining the braking acceleration of the linked vehicle according to the second distance and the current running speed of the linked vehicle; controlling the running of the linked vehicle to the linked vehicle according to the braking acceleration; or determining a second distance between the first current position and a second current position of the articulated vehicle; determining a braking distance according to the current running speed and the preset braking acceleration of the linked vehicle; determining a braking time according to the second distance and the braking distance; controlling the continuous trailer to start braking at the braking time in the process of driving the continuous trailer to the connected trailer; the control hanging hook-releasing device is used for hanging the trailer hook after the angle adjustment and the trailer hook of the trailer vehicle, and comprises the following components: after the trailer is stopped, the hitching and unhooking device is controlled to hitch the angle-adjusted trailer hook with the trailer hook of the towed vehicle.
In the implementation process, when the distance between the trailer and the connected vehicle is set to a certain distance, the braking acceleration of the running of the connected vehicle is determined by acquiring the distance between the connected vehicle and the current speed of the connected vehicle so as to control the connected vehicle to just stop when the connected vehicle runs to the connected position. Or, the braking distance can be determined according to the current speed and the preset braking acceleration of the linking vehicle, and the braking time is determined, so that the linking vehicle starts to brake when the braking time is reached, and the linking vehicle can just stop when the linking vehicle runs to the linked position. After the trailer is stopped, the hitching and unhooking device is controlled to hitch the hitched coupler after the angle is adjusted with the hitched coupler of the hitched vehicle, so that the hitching of the hitched coupler with the hitched coupler of the hitched vehicle is smoothly completed, the whole process of the running of the hitched coupler and the hitched coupler of the hitched vehicle does not need human participation, and the automation degree of the hitching process of the hitched coupler with the hitched coupler of the hitched vehicle is improved.
In one embodiment, the method further comprises: and controlling the hanging and unhooking device to open the connecting and unhooking hook.
In the realization process, before the trailer hook and the connected trailer hook are connected, the hook-hanging and unhooking device is controlled to open the trailer hook, so that the coupler knuckle of the trailer hook can be better contacted with the concave part of the connected trailer hook, the accuracy of the connection and the connection of the trailer hook and the connected trailer hook is improved, and the connection loss probability is reduced.
In a second aspect, an embodiment of the present application further provides a coupler hitch, including: the acquisition module is used for acquiring a first current position of the connected vehicle; the determining module is used for determining the swing angle of the trailer hook of the trailer according to the first current position and a recording table, wherein the recording table is a comparison table of a preset position point of the trailer to be connected and the swing angle of the trailer hook, and the preset position point is a position point of the trailer to be connected on a curve; the adjusting module is used for controlling the swinging device to adjust the angle of the hitch coupler according to the swinging angle; and the hitching module is used for controlling the hitching and unhooking device to hitch the hitched hook after the angle is adjusted with the hitched hook of the hitched vehicle.
In a third aspect, embodiments of the present application further provide a control apparatus, including: a processor, a memory storing machine-readable instructions executable by the processor, which when executed by the processor, perform the steps of the method of the first aspect, or any of the possible implementations of the first aspect, when the control device is running.
In a fourth aspect, embodiments of the present application further provide a coupler hitch system, including: a hooking and unhooking device, a swinging device, and a control apparatus according to the third aspect; the control equipment is used for acquiring a first current position of the hung vehicle, determining the swinging angle of a trailer hook of the trailer vehicle according to the first current position and a recording table, and sending the swinging angle to the swinging device; the record table is a comparison table of preset position points of the connected vehicle and the swing angle of the connected vehicle hook, and the preset position points are position points of the connected vehicle on a curve; the swinging device is used for receiving the swinging angle and adjusting the angle of the hitch coupler according to the swinging angle; the swinging device is also used for feeding back an angle adjustment completion signal to the control equipment; after the control equipment acquires the angle adjustment completion signal, a hook connecting instruction is sent to the hook hanging and unhooking device; the hitching and unhooking device is used for receiving the hitching instruction and hitching the hitching hook with the hitched hook of the hitched vehicle after the angle is adjusted according to the hitching instruction.
In a fifth aspect, embodiments of the present application further provide a computer readable storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of the method of the first aspect, or any one of the possible implementations of the first aspect.
In order to make the above objects, features and advantages of the present application more comprehensible, embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered limiting the scope, and that other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of a coupler hitch system according to an embodiment of the present disclosure;
fig. 2 is a schematic block diagram of a control device according to an embodiment of the present application;
FIG. 3 is a flow chart of a method for coupling a coupler provided in an embodiment of the present application;
FIG. 4 is a schematic diagram of a coupler hitch on a straight track according to an embodiment of the present disclosure;
FIG. 5 is a schematic diagram of a coupler hitch on a curve according to an embodiment of the present disclosure;
FIG. 6 is a flowchart of a specific implementation of a method for coupling a coupler according to an embodiment of the present application;
fig. 7 is a schematic functional module diagram of a coupler linking device according to an embodiment of the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be described below with reference to the drawings in the embodiments of the present application.
It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures. Meanwhile, in the description of the present application, the terms "first", "second", and the like are used only to distinguish the description, and are not to be construed as indicating or implying relative importance.
Currently, many rail vehicles are implemented using a jean coupler in order to make a connection between the rail vehicles. If two rail vehicles are on a straight rail, the coupling of the vehicles is very easy, and the coupling can be completed only by driving the decoupling trailer vehicle to the coupled trailer vehicle at a low speed on the basis that the coupler knuckle is opened in place. In many scenarios, the track may not be straight, and when a large radius curve is hitched, the coupler center line is slightly offset from the track center line, or hitching may be accomplished. However, when the small-radius curved track is hung, the central line of the coupler deviates from the central line of the track greatly, and at the moment, the unhindered trailer hook and the connected trailer hook are misplaced, so that the hanging cannot be completed. In the driving of the vehicle, if the curve connection fails, the vehicle cannot continue to run, and a technician needs to wait for manually controlling the vehicle to connect, so that the unmanned efficiency and safety are greatly affected.
The inventor of the application finds that at present, the curve connection is finished by manually adjusting the angle of the coupler of the railway vehicle, or the curve connection is finished by installing a range finder on the coupler of the railway vehicle to detect the relative positions of two coupling hooks, so that the angle of the coupler is adjusted. If the angle of the coupler is manually adjusted, the degree of automation is low, and the coupler is unsafe for staff. If the distance meter is used for adjustment, additional equipment is required to be installed on the coupler, the engineering installation amount is large, and the system complexity is high.
In view of this, the inventor of the present application proposes a coupler hitch method, which determines the offset angle of the trailer hitch by using the position of the hitched vehicle and a pre-stored comparison table of the preset position point of the hitched vehicle and the swing angle of the trailer hitch, so that the calculated amount in the whole process is less, and the coupler hitch efficiency can be improved. In addition, after the swing angle of the trailer hook is determined, the angle of the trailer hook is directly adjusted to the control swing device according to the swing angle, and the trailer hook device is used for coupling the trailer hook after the angle is adjusted with the trailer hook of the trailer to be coupled, the whole coupling process is realized through the mutual cooperation of all devices, the human participation is not needed, the automation of coupling and coupling can be improved, and the workload of staff is reduced.
For the sake of understanding the present embodiment, first, an operation environment for executing a method for coupling a coupler disclosed in the embodiments of the present application will be described in detail.
As shown in fig. 1, a schematic structural diagram of a coupler hooking system provided in an embodiment of the present application includes: the hooking and unhooking device 200, the swinging device 300 and the control device 100.
Wherein the control device 100 is connected to one or more of the hooking and unhooking means 200 and the swinging means 300 by wired or wireless means for data communication or interaction.
The control device 100 may be a server, computer, industrial personal computer, smart phone, personal digital assistant (personal digital assistant, PDA), or the like.
The control apparatus 100 here is used to calculate unmanned data or assisted driving data of the target vehicle. The control device 100 may be configured to obtain a first current position of the articulated vehicle, determine a swing angle of a hitch of the articulated vehicle according to the first current position and the record table, send the swing angle to the swing device 300, obtain an angle adjustment completion signal fed back by the swing device 300, and generate a hitch command according to the angle adjustment completion signal. The control device 100 is also configured to send the couple command to the couple and uncouple device 200.
The record table is a comparison table of preset position points of the connected vehicle and swing angles of the connected vehicle hooks, and the preset position points are position points of the connected vehicle on a curve. The position points may be coordinate points of the various positions of the towed vehicle on the curve.
The swinging device 300 is configured to receive a swinging angle sent by the control device 100, and adjust an angle of the hitch coupler to a specified angle according to the swinging angle. The swinging means 300 may also be used to feed back an angle adjustment completion signal to the control device 100.
The hitching and unhooking device 200 is used for receiving the hitching instruction, and hitching the hitching hook with the hitched hook of the hitched vehicle according to the hitching instruction, so as to connect the hitched vehicle with the hitched vehicle.
In some embodiments, the hitching and unhooking apparatus 200 is further configured to receive a unhooking instruction, and unhook the hitched vehicle from the hitched vehicle's hitched vehicle according to the unhooking instruction, thereby disconnecting the hitched vehicle from the hitched vehicle.
In order to facilitate understanding of the present embodiment, a control device for executing the method for coupling a coupler disclosed in the embodiments of the present application will be described in detail.
As shown in fig. 2, a block schematic of the control device is shown. The control device 100 may include a memory 111, a memory controller 112, a processor 113, a peripheral interface 114, and an input output unit 115. It will be appreciated by those skilled in the art that the configuration shown in fig. 2 is merely illustrative and is not limiting of the configuration of the control device 100. For example, the control device 100 may also include more or fewer components than shown in fig. 2, or have a different configuration than shown in fig. 2.
The above-mentioned memory 111, memory controller 112, processor 113, peripheral interface 114 and input/output unit 115 are electrically connected to each other directly or indirectly to realize data transmission or interaction. For example, the components may be electrically connected to each other via one or more communication buses or signal lines. The processor 113 is used to execute executable modules stored in the memory.
The Memory 111 may be, but is not limited to, a random access Memory (Random Access Memory, RAM), a Read Only Memory (ROM), a programmable Read Only Memory (Programmable Read-Only Memory, PROM), an erasable Read Only Memory (Erasable Programmable Read-Only Memory, EPROM), an electrically erasable Read Only Memory (Electric Erasable Programmable Read-Only Memory, EEPROM), etc. The memory 111 is configured to store a program, and the processor 113 executes the program after receiving an execution instruction, and a method executed by the control device 100 defined by the process disclosed in any embodiment of the present application may be applied to the processor 113 or implemented by the processor 113.
The processor 113 may be an integrated circuit chip having signal processing capabilities. The processor 113 may be a general-purpose processor, including a central processing unit (Central Processing Unit, CPU for short), a network processor (Network Processor, NP for short), etc.; but also digital signal processors (digital signal processor, DSP for short), application specific integrated circuits (Application Specific Integrated Circuit, ASIC for short), field Programmable Gate Arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components. The disclosed methods, steps, and logic blocks in the embodiments of the present application may be implemented or performed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The peripheral interface 114 couples various input/output devices to the processor 113 and the memory 111. In some embodiments, the peripheral interface 114, the processor 113, and the memory controller 112 may be implemented in a single chip. In other examples, they may be implemented by separate chips.
The input-output unit 115 described above is used to provide input data to a user. The input/output unit 115 may be, but is not limited to, a mouse, a keyboard, and the like.
The control apparatus 100 in the present embodiment may be used to perform each step in each method provided in the embodiments of the present application. The implementation of the coupler hitch method is described in detail below in several embodiments.
Fig. 3 is a flowchart of a method for coupling a coupler according to an embodiment of the present application. The specific flow shown in fig. 3 will be described in detail.
Step 201, a first current location of a linked vehicle is obtained.
It will be appreciated that in rail transit systems, freight rail vehicles and passenger rail vehicle vehicles are typically provided. The carriages of each vehicle are connected through coupler pins so as to drive a plurality of carriages through one locomotive. In a railway vehicle, the number of carriages is variable in accordance with the actual number of actual goods or passengers. For example, when the current cargo load is large and the current cabin of the target vehicle cannot load all the cargo, the cargo load of the vehicle can be enlarged by increasing the cabin. Or, the current cargo carrying capacity is small, all the cargo can be loaded only by part of carriages, and in order to reduce the load of the vehicle, the load of the vehicle can be reduced by reducing the carriages.
Of course, in some specific scenes, the carriages can be respectively dispersed in different areas so as to respectively load cargoes in each area, after the cargoes are loaded, the part where the headstock is located is driven by the headstock to respectively run to the carriages in each area, and after the parts are sequentially connected with each carriage, a complete cargo transporting vehicle is formed so as to transport the cargoes.
The above is merely an example for different freight scenarios, and the use cases of the rail vehicle may also be used in other scenarios besides the above scenario, which will not be described in detail here. In addition, when the rail vehicle is used in a passenger transportation scenario, the principle is similar to freight transportation. For example, during peak passenger traffic hours (e.g., spring festival, labor festival, national festival, etc.), more passengers may be transported by adding a cabin to the vehicle. Or, during the peak period of passenger traffic, the number of empty carriages can be reduced by reducing carriages on the vehicle, thereby reducing the loss of the empty carriages and reducing the load of the vehicle.
Typically, when a rail vehicle is being articulated, the rail vehicle may be considered to be split into two parts where the articulated is required. One part of the vehicle control system comprises a vehicle head for performing vehicle control, and the other part does not comprise the vehicle head for performing vehicle control. The rail vehicle part comprising the head for performing the vehicle control is closed towards the rail vehicle part without the head for performing the vehicle control under the control of the control device and is connected with the rail vehicle without the head for performing the vehicle control by means of a coupler pin.
The articulated vehicle here is a rail vehicle part including a head that performs vehicle control, and the articulated vehicle is a rail vehicle part that does not include a head that performs vehicle control. For example, when the rail vehicle includes only one head, the portion where the head is located is a connected vehicle, and the portion including only the cabin is a connected vehicle. If the two ends of the railway vehicle are provided with the vehicle heads, the part of the vehicle head which actually controls the vehicle to run is a connected vehicle, and the part of the vehicle head which does not control the vehicle to run is a connected vehicle.
Optionally, a positioning device, an image acquisition device and a position information acquisition device for acquiring the position information of the connected vehicle can be arranged on the connected vehicle.
In some embodiments, the position information acquisition device may acquire a first current position of the towed vehicle and send the first current position to the control device when the towed vehicle needs to be towed. Or the control equipment acquires the first current position of the connected vehicle from the position information acquisition device at the set time.
The first current position here is the position point at which the connected vehicle is at the current moment. The first current location may include coordinate values of the connected vehicle at the location point.
Step 202, determining the swing angle of the hitch coupler of the trailer according to the first current position and the record table.
It will be appreciated that the angle of the coupler of the articulated vehicle will not shift when the articulated vehicle is on a straight track, as shown in figure 4, and the articulated vehicle may be directly connected. However, as shown in fig. 5, when the articulated vehicle is on a curve, the angle of the articulated coupler of the articulated vehicle may deviate under the influence of the curve. At this time, if the connected vehicle is directly connected to the connected vehicle, the connection loss may occur. Therefore, when the connected vehicle is in a curve, the angle of the connecting coupler of the connected vehicle can be adjusted first, and then the connected vehicle and the connected vehicle are connected, so that the probability of connecting success is improved.
Typically, the curve of the track is disposed in a relatively fixed area, and the angular offset of the towed vehicle hook at each location of the curve is fixed. Therefore, when the connected vehicle stops at the position point of the curve, the connected vehicle is controlled to run to the connected vehicle, so that the two couplers to be connected are in a state of being connected, the coupler knuckle of the connected vehicle is opened in place, and the swing angle of the connected vehicle coupler is adjusted through the swing device, so that the coupler knuckle of the connected vehicle coupler is opposite to the concave part of the connected vehicle coupler. At this time, the coordinates of the position point of the towed vehicle at this time, and the swing angle of the towed vehicle hook are recorded. When the connected vehicle is at all the position points on the curve in this way, the coordinates of the position points of the connected vehicle at each position point and the swing angle of the connecting coupler are recorded respectively to form a record table. In the record table, the coordinates of the position point of the hitch vehicle and the swing angle of the hitch hook are stored correspondingly.
The predetermined position point here is the position point of the towed vehicle on a curve. Because the coupler has a certain volume, when the distance between two adjacent position points on the curve is smaller, the angle difference of the coupler at the two positions can be ignored, namely, when the angle deviation difference of the coupler at the two position points is smaller, the coupler can be adjusted through the same swinging angle. Thus, when creating the record table, it is unnecessary to record the swing angle of the hitch coupler corresponding to each position point of the curve. The method comprises the steps of determining the distance between the position points, at which the swing angle difference of the coupler is smaller than the swing angle difference threshold, according to the swing angle difference threshold of the coupler, selecting a plurality of preset position points on a curve according to the distance between the position points, and storing the coordinates of the preset position points and the swing angle of the coupler.
After determining the recording table, the recording table may be stored in advance in a memory of the control device. The record table is a comparison table of preset position points of the towed vehicle and the swinging angle of the towed vehicle hook. After the first current position of the connected vehicle is obtained, the coordinate of the corresponding current position point of the connected vehicle can be determined according to the first current position, the coordinate of the current position point is matched with the preset position point in the record table, and the swing angle of the connected vehicle hook corresponding to the first current position is determined.
Step 203, controlling the swinging device to adjust the angle of the hitch coupler according to the swinging angle.
When the control device determines that the swing angle of the hitch coupler to be adjusted when the coupled vehicle is at the first current position, the swing angle can be sent to the swing device so as to control the swing device to adjust the angle of the hitch coupler according to the swing angle.
Step 204, controlling the hitching and unhooking device to hitch the hitching hook after the angle adjustment with the hitched hook of the hitched vehicle.
When the control device acquires the angle adjustment completion signal, a hook connecting instruction can be further generated and sent to the hook connecting and unhooking device, and after the hook connecting and unhooking device acquires the hook connecting instruction, the hook connecting and unhooking device carries out the hook connecting and unhooking of the hook connecting and unhooking hook of the towed vehicle after the angle adjustment according to the hook connecting instruction.
In the implementation process, the record table is a comparison table of the preset position point of the connected vehicle and the swing angle of the connected vehicle hook, so that the swing angle of the connected vehicle hook in the record table stored in advance can be directly determined according to the acquired first current position of the connected vehicle and the record table. The swing angle of the coupler is determined directly through a table look-up mode, the swing angle of the coupler is not required to be calculated in real time according to the position relation between the coupled vehicle and the coupled vehicle, the calculated amount of the swing angle is reduced, and the coupler coupling efficiency is improved. In addition, after the swing angle of the trailer hook is determined, the angle of the trailer hook is directly adjusted to the control swing device according to the swing angle, and the trailer hook device is used for coupling the trailer hook after the angle is adjusted with the trailer hook of the trailer to be coupled, the whole coupling process is realized through the mutual cooperation of all devices, the human participation is not needed, the automation of coupling and coupling can be improved, and the workload of staff is reduced.
In one possible implementation, step 202 includes: determining a position point closest to the first current position in the preset position points; and determining the swing angle corresponding to the position point closest to the first current position as the swing angle of the trailer hitch.
It can be understood that the preset position points may be position points on the curve determined according to a preset rule, and when the first current position of the connected vehicle is not the position point stored in the record table, the first current position may be matched with the position points in the record table, so as to determine the position point closest to the first current position. Since the distance between the preset position points is the position point distance that the swing angle difference of the coupler is smaller than the swing angle difference threshold value. Therefore, when the first current position falls between two preset position points, the swing angle difference threshold value between the swing angle of the coupler corresponding to the first current position and one or both of the two preset position points is smaller than the swing angle difference threshold value, and then the swing angle of any one of the two preset position points can be determined to be the swing angle of the trailer coupler.
In some embodiments, the difference in swing angle is smaller as the distance between two location points is closer. Therefore, in order to improve the accuracy of the swing angle of the trailer hitch, the swing angle corresponding to the preset position point closest to the first current position point may be selected as the swing angle of the trailer hitch.
In the above-described implementation, since the closer the distance between the two position points is, the smaller the difference in the swing angle is relatively. Therefore, when the first current position point is not located at the preset position point in the record table, the swing angle corresponding to the position point closest to the first current position point is determined to be the swing angle of the hitch coupler, and the position point with the minimum swing angle difference with the first current position point can be determined, so that the swing angle corresponding to the position point is used as the swing angle of the first current position point, and the accuracy of the swing angle of the hitch coupler is improved.
In a possible implementation manner, as shown in fig. 6, after determining a position point closest to the first current position from among the preset position points, the method further includes: judging the relation between the first distance between the position point closest to the first current position and the preset error distance; determining the swing angle corresponding to the position point closest to the first current position as the swing angle of the trailer hitch comprises: if the first distance is smaller than or equal to the preset error distance, determining that the swing angle corresponding to the position point closest to the first current position is the swing angle of the trailer hitch.
The preset error distance is the distance between the position points where the swing angle difference of the coupler is equal to the swing angle difference threshold value. Since the preset position points in the record table are determined according to the preset error distance, that is, the distance between adjacent preset position points in the record table is smaller than or equal to the preset error distance. Thus, if the connected vehicle is in a curve, the first distance is less than or equal to the preset error distance. If the first distance is greater than the predetermined error distance, it may be determined that the connected vehicle is not on a curve.
If the towed vehicle is in a curve, the pivot angle corresponding to the position point closest to the first current position may be determined as the pivot angle of the towed vehicle hook.
In one possible implementation, the method further includes: if the first distance is larger than the preset error distance, the hitching and unhooking device is directly controlled to hitch the hitching coupler with the hitched coupler of the hitched vehicle.
It will be appreciated that if the first distance is greater than the predetermined error distance, it may be determined that the connected vehicle is in a straight track. At this time, the angle of the hitched hook of the hitched vehicle is not deviated, the swing angle of the hitched hook can not be adjusted, and the hitched hook-unhooking device is directly controlled to hitch the hitched hook with the hitched hook of the hitched vehicle.
In the implementation process, after the first current position of the connected vehicle is obtained, whether the connected vehicle is in a straight track or a curve is determined according to the relation between the first distance between the position point closest to the first current position and the preset error distance, so that the connected vehicle and the connected vehicle are connected by adopting corresponding connecting methods according to different positions of the connected vehicle, the connecting accuracy of the connected vehicle and the connected vehicle in different types of tracks is improved, and the probability of loss of connection is reduced.
In one possible implementation, before step 204, the method further includes: determining a second distance between the first current location and a second current location of the articulated vehicle; determining the braking acceleration of the continuous vehicle according to the second distance and the current running speed of the continuous vehicle; controlling the running of the continuous trailer to the connected trailer according to the braking acceleration; or determining a second distance between the first current position and a second current position of the linking vehicle; determining a braking distance according to the current running speed and the preset braking acceleration of the linked vehicle; determining a braking time according to the second distance and the braking distance; and controlling the continuous trailer to start braking at the braking time during the running of the continuous trailer to the connected trailer.
Step 204, including: after the trailer stops, the control hook-unhooking device carries out the hook-unhooking of the angle-adjusted hook-unhooked hook and the hook-unhooked hook of the trailer.
The second current position here is the position point at which the coupling vehicle is located at the current moment. The second current location may include coordinate values of the coupling vehicle at the location point. The second current position may be acquired by a position information acquisition device provided on the hitch vehicle, such as a positioning device, an image acquisition device, etc. for acquiring position information of the hitch vehicle.
The preset braking acceleration is the acceleration required by braking the trailer vehicle which is set and stored in advance.
It will be appreciated that when a coupling vehicle is required to couple to a coupled vehicle and the coupling vehicle is a distance from the coupled vehicle, the coupled vehicle needs to be moved to the location point where the coupling vehicle is located to complete coupling of the coupling vehicle to the coupled vehicle. Thus, it is also necessary to control the drive-off of the articulated vehicle to the articulated vehicle at a certain speed before the articulated vehicle is articulated with the articulated vehicle.
Since the trailer needs to stop when traveling to the position of the towed vehicle, the traveling process of the trailer to the position of the towed vehicle is a deceleration braking process. Further, a braking acceleration of the articulated vehicle may be determined according to a second distance between the first current position point of the articulated vehicle and the second current position point of the articulated vehicle, and a current running speed of the articulated vehicle, and the running speed of the articulated vehicle may be controlled with the braking acceleration so that the articulated vehicle may just stop when it runs to the articulated vehicle.
Of course, if the braking acceleration of the articulated vehicle is set in advance, the articulated vehicle needs to be braked according to the preset braking acceleration when traveling to the articulated vehicle. The braking time of the linked vehicle can also be determined by a braking distance determined according to the current running speed and the preset braking acceleration and according to a second distance between the first current position point of the linked vehicle and the second current position point of the linked vehicle. When the braking time is reached, the truck starts to brake with a preset braking acceleration, so that the truck can be driven to a position where the truck can just stop. The current running speed of the linked vehicle can be obtained through a speed sensor, a velocimeter and other devices.
In the implementation process, when the distance between the trailer and the connected vehicle is set to a certain distance, the braking acceleration of the running of the connected vehicle is determined by acquiring the distance between the connected vehicle and the current speed of the connected vehicle so as to control the connected vehicle to just stop when the connected vehicle runs to the connected position. Or, the braking distance can be determined according to the current speed and the preset braking acceleration of the linking vehicle, and the braking time is determined, so that the linking vehicle starts to brake when the braking time is reached, and the linking vehicle can just stop when the linking vehicle runs to the linked position. After the trailer is stopped, the hitching and unhooking device is controlled to hitch the hitched coupler after the angle is adjusted with the hitched coupler of the hitched vehicle, so that the hitching of the hitched coupler with the hitched coupler of the hitched vehicle is smoothly completed, the whole process of the running of the hitched coupler and the hitched coupler of the hitched vehicle does not need human participation, and the automation degree of the hitching process of the hitched coupler with the hitched coupler of the hitched vehicle is improved.
In one possible implementation, the method further includes: the hanging and unhooking device is controlled to open the hanging and unhooking hook.
It can be appreciated that when the hitching hook and the hitched hook are in an open state, after the swing angle of the hitching hook is adjusted, the coupler knuckle of the hitched hook is opposite to the recess of the hitched hook, and further, the coupler knuckle of the hitched hook can be controlled to move into the recess of the hitched hook and be controlled to be closed, so that the hitching of the hitched hook and the hitched hook can be realized.
In the realization process, before the trailer hook and the connected trailer hook are connected, the hook-hanging and unhooking device is controlled to open the trailer hook, so that the coupler knuckle of the trailer hook can be better contacted with the concave part of the connected trailer hook, the accuracy of the connection and the connection of the trailer hook and the connected trailer hook is improved, and the connection loss probability is reduced.
Based on the same application conception, the embodiment of the application also provides a coupler hooking device corresponding to the coupler hooking method, and because the principle of solving the problem of the device in the embodiment of the application is similar to that of the embodiment of the coupler hooking method, the implementation of the device in the embodiment of the application can be referred to the description in the embodiment of the method, and the repetition is omitted.
Fig. 7 is a schematic functional block diagram of a coupler hitch according to an embodiment of the present application. The modules in the coupler hitch in this embodiment are configured to perform the steps in the method embodiments described above. The coupler coupling device comprises an acquisition module 301, a determination module 302, an adjustment module 303 and a coupling module 304; wherein,,
the acquisition module 301 is configured to acquire a first current position of the connected vehicle.
The determining module 302 is configured to determine a swing angle of a trailer hook of a trailer according to the first current position and a record table, where the record table is a comparison table of a preset position point of the towed vehicle and the swing angle of the trailer hook, and the preset position point is a position point of the towed vehicle on a curve.
The adjusting module 303 is configured to control the swinging device to adjust the angle of the hitch coupler according to the swinging angle.
The hitching module 304 is used for controlling the hitching and unhooking device to hitch the hitched hook of the hitched vehicle and the hitched hook of the hitched vehicle after the angle adjustment.
In a possible implementation manner, the determining module 302 is further configured to: determining a position point closest to the first current position in the preset position points; and determining the swing angle corresponding to the position point closest to the first current position as the swing angle of the hitch coupler.
In one possible implementation manner, the coupler linking device further comprises a judging module, configured to: and judging the relation between the first distance between the position point closest to the first current position and the preset error distance.
In a possible implementation manner, the determining module 302 is specifically configured to: and if the first distance is smaller than or equal to the preset error distance, determining that the swing angle corresponding to the position point closest to the first current position is the swing angle of the hitch coupler.
In a possible implementation manner, the judging module is further configured to: and if the first distance is larger than the preset error distance, directly controlling a hooking and unhooking device to hook the trailer hook and the trailer hook of the towed vehicle.
In a possible implementation manner, the determining module 302 is further configured to: determining a second distance between the first current location and a second current location of the articulated vehicle; determining the braking acceleration of the linked vehicle according to the second distance and the current running speed of the linked vehicle; controlling the running of the linked vehicle to the linked vehicle according to the braking acceleration; or determining a second distance between the first current position and a second current position of the articulated vehicle; determining a braking distance according to the current running speed and the preset braking acceleration of the linked vehicle; determining a braking time according to the second distance and the braking distance; and controlling the continuous trailer to start braking at the braking time in the process of driving the continuous trailer to the connected trailer.
In a possible implementation, the linking module 304 is further configured to: after the trailer is stopped, the hitching and unhooking device is controlled to hitch the angle-adjusted trailer hook with the trailer hook of the towed vehicle.
In a possible embodiment, the coupler hitch further includes a control module for: and controlling the hanging and unhooking device to open the connecting and unhooking hook.
In addition, the embodiment of the application further provides a computer readable storage medium, and a computer program is stored on the computer readable storage medium, and when the computer program is executed by a processor, the steps of the coupler hooking method in the embodiment of the method are executed.
The computer program product of the method for coupling a coupler according to the embodiment of the present application includes a computer readable storage medium storing program codes, where instructions included in the program codes may be used to execute steps of the method for coupling a coupler according to the embodiment of the method, and specifically, reference may be made to the embodiment of the method, and details thereof are omitted herein.
In the several embodiments provided in this application, it should be understood that the disclosed apparatus and method may be implemented in other manners as well. The apparatus embodiments described above are merely illustrative, for example, flow diagrams and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to various embodiments of the present application. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
In addition, the functional modules in the embodiments of the present application may be integrated together to form a single part, or each module may exist alone, or two or more modules may be integrated to form a single part.
The functions, if implemented in the form of software functional modules and sold or used as a stand-alone product, may be stored in a computer-readable storage medium. Based on such understanding, the technical solution of the present application may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a storage medium, including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods described in the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes. It is noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising … …" does not exclude the presence of other like elements in a process, method, article or apparatus that comprises the element.
The foregoing description is only of the preferred embodiments of the present application and is not intended to limit the same, but rather, various modifications and variations may be made by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application should be included in the protection scope of the present application. It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures.
The foregoing is merely specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily think about changes or substitutions within the technical scope of the present application, and the changes and substitutions are intended to be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (10)
1. A method of coupling a coupler, comprising:
acquiring a first current position of a connected vehicle;
determining the swing angle of a trailer hook of a trailer according to the first current position and a record table, wherein the record table is a comparison table of a preset position point of the trailer to be towed and the swing angle of the trailer hook, and the preset position point is a position point of the trailer to be towed on a curve;
Controlling a swinging device to adjust the angle of the coupler according to the swinging angle;
and controlling the hooking and unhooking device to hook the trailer hook after the angle is adjusted with the trailer hook of the towed vehicle.
2. The method of claim 1, wherein determining the swing angle of the hitch coupler of the hitch vehicle based on the first current position and the record table comprises:
determining a position point closest to the first current position in the preset position points;
and determining the swing angle corresponding to the position point closest to the first current position as the swing angle of the hitch coupler.
3. The method of claim 2, wherein after the determining the closest location point to the first current location from among the preset location points, the method further comprises:
judging the relation between a first distance between a position point closest to the first current position and a preset error distance;
the determining that the swing angle corresponding to the position point closest to the first current position is the swing angle of the hitch coupler includes:
And if the first distance is smaller than or equal to the preset error distance, determining that the swing angle corresponding to the position point closest to the first current position is the swing angle of the hitch coupler.
4. A method according to claim 3, characterized in that the method further comprises:
and if the first distance is larger than the preset error distance, directly controlling a hooking and unhooking device to hook the trailer hook and the trailer hook of the towed vehicle.
5. The method of claim 1, wherein the control hitch coupler apparatus further comprises, prior to coupling the angle-adjusted hitch coupler with a hitch of the towed vehicle:
determining a second distance between the first current location and a second current location of the articulated vehicle;
determining the braking acceleration of the linked vehicle according to the second distance and the current running speed of the linked vehicle;
controlling the running of the linked vehicle to the linked vehicle according to the braking acceleration; or alternatively, the first and second heat exchangers may be,
determining a second distance between the first current location and a second current location of the articulated vehicle;
Determining a braking distance according to the current running speed and the preset braking acceleration of the linked vehicle;
determining a braking time according to the second distance and the braking distance;
controlling the continuous trailer to start braking at the braking time in the process of driving the continuous trailer to the connected trailer;
the control hanging hook-releasing device is used for hanging the trailer hook after the angle adjustment and the trailer hook of the trailer vehicle, and comprises the following components:
after the trailer is stopped, the hitching and unhooking device is controlled to hitch the angle-adjusted trailer hook with the trailer hook of the towed vehicle.
6. The method according to any one of claims 1-5, further comprising:
and controlling the hanging and unhooking device to open the connecting and unhooking hook.
7. A coupler hitch, comprising:
the acquisition module is used for acquiring a first current position of the connected vehicle;
the determining module is used for determining the swing angle of the trailer hook of the trailer according to the first current position and a recording table, wherein the recording table is a comparison table of a preset position point of the trailer to be connected and the swing angle of the trailer hook, and the preset position point is a position point of the trailer to be connected on a curve;
The adjusting module is used for controlling the swinging device to adjust the angle of the hitch coupler according to the swinging angle;
and the hitching module is used for controlling the hitching and unhooking device to hitch the hitched hook after the angle is adjusted with the hitched hook of the hitched vehicle.
8. A control apparatus, characterized by comprising: a processor, a memory storing machine-readable instructions executable by the processor, which when executed by the processor, perform the steps of the method of any of claims 1 to 6 when the control device is run.
9. A coupler hitch system, comprising: a hooking and unhooking device, a swinging device, and the control apparatus of claim 8;
the control equipment is used for acquiring a first current position of the hung vehicle, determining the swinging angle of a trailer hook of the trailer vehicle according to the first current position and a recording table, and sending the swinging angle to the swinging device; the record table is a comparison table of preset position points of the connected vehicle and the swing angle of the connected vehicle hook, and the preset position points are position points of the connected vehicle on a curve;
The swinging device is used for receiving the swinging angle and adjusting the angle of the hitch coupler according to the swinging angle;
the swinging device is also used for feeding back an angle adjustment completion signal to the control equipment;
after the control equipment acquires the angle adjustment completion signal, a hook connecting instruction is sent to the hook hanging and unhooking device;
the hitching and unhooking device is used for receiving the hitching instruction and hitching the hitching hook with the hitched hook of the hitched vehicle after the angle is adjusted according to the hitching instruction.
10. A computer-readable storage medium, characterized in that it has stored thereon a computer program which, when executed by a processor, performs the steps of the method according to any of claims 1 to 6.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202310764825.XA CN116534072A (en) | 2023-06-26 | 2023-06-26 | Coupler coupling method, device and system, control equipment and readable storage medium |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202310764825.XA CN116534072A (en) | 2023-06-26 | 2023-06-26 | Coupler coupling method, device and system, control equipment and readable storage medium |
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