CN113885530B - Automatic control method, system and storage medium for rail transport vehicle - Google Patents
Automatic control method, system and storage medium for rail transport vehicle Download PDFInfo
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- CN113885530B CN113885530B CN202111294346.3A CN202111294346A CN113885530B CN 113885530 B CN113885530 B CN 113885530B CN 202111294346 A CN202111294346 A CN 202111294346A CN 113885530 B CN113885530 B CN 113885530B
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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Abstract
The application discloses an automatic control method, a system and a storage medium of a rail transport vehicle, comprising the following steps: acquiring end position information based on a manual triggering mode; acquiring initial position information based on preset conditions; analyzing path information which takes initial position information and end position information as two ends from the track information; acquiring an induction signal; judging whether node information corresponding to the induction signal is end position information or not; and if the node information corresponding to the sensing signal is not the end position information, controlling the transport vehicle to move at a normal speed. The worker only needs to input the terminal position to the transport vehicle to form terminal position information, the transport vehicle automatically acquires initial position information, plans a moving path, realizes automatic movement of the transport vehicle, and enables the transport vehicle to automatically finish parking action through sensing the terminal position node information.
Description
Technical Field
The present disclosure relates to the field of automatic control, and in particular, to an automatic control method, system and storage medium for a rail transport vehicle.
Background
In large transfer sites such as factories, ports, etc., transporting large tonnage components is time consuming and labor intensive. In the transportation process, the transportation vehicle or forklift truck needs to be manually driven to transfer among different stations.
Because the position of the station is fixed, in order to facilitate the movement of the transport vehicle, the factory can directly lay the track in the base, so that the transport vehicle moves along the track. Therefore, workers do not need to drive the transport vehicle to move between stations in person, and the transport vehicle can be controlled to move in a manual remote control mode.
With respect to the related art, the inventor considers that the movement of the transport vehicle is still not controlled manually, and a worker is required to move between different stations along with the transport vehicle, and the movement speed of the transport vehicle is slower, so that the worker needs to spend more time following the transport vehicle, and time is wasted for the worker.
Disclosure of Invention
In order to save time of workers, the application provides an automatic control method, an automatic control system and a storage medium of a rail transport vehicle.
In a first aspect, the present application provides an automatic control method for a rail transport vehicle, which adopts the following technical scheme:
an automatic control method of a rail transport vehicle comprises the following steps:
track information is preset, wherein the track information comprises a plurality of node information;
acquiring end position information based on a manual triggering mode;
acquiring initial position information based on preset conditions;
the initial position information and the end position information respectively correspond to different node information;
analyzing path information which takes initial position information and end position information as two ends from the track information;
controlling the transport vehicle to move along the track according to the path information, and acquiring an induction signal, wherein the induction signal corresponds to node information;
judging whether node information corresponding to the induction signal is end position information or not;
and if the node information corresponding to the sensing signal is not the end position information, controlling the transport vehicle to move at a normal speed.
Through adopting above-mentioned technical scheme, when the transport vechicle need remove between the station, the workman only need to transport vechicle input destination position with form destination position information can, transport vechicle obtain initial position information by oneself to plan out the travel path, realize the automatic movement of transport vechicle, and through the response to destination point node information, make the transport vechicle can accomplish the parking action voluntarily, need not the workman and accompany simultaneously manual control transport vechicle action.
Optionally, acquiring obstacle information based on a preset detection mode, analyzing the real-time distance between the obstacle and the transport vehicle according to the obstacle information, and comparing the real-time distance with a first preset value;
if the real-time distance is greater than the first preset value, controlling the transport vehicle to move at a normal speed;
and if the real-time distance is smaller than or equal to a first preset value, controlling the transport vehicle to stop.
By adopting the technical scheme, once sundries are in the way of blocking the track in the forward direction of the transport vehicle, the transport vehicle can detect the blocking object in advance, the transport vehicle can not stop immediately, and as long as the real-time distance from the blocking object to the transport vehicle is larger than a first preset value, the blocking object is indicated to be at a safe distance from the transport vehicle, the transport vehicle can continue to move, and if the blocking object is moved away in the continuous moving process of the transport vehicle, the transport vehicle can normally run down; if the barrier is not moved all the time, after the real-time distance between the transport vehicle and the barrier is smaller than or equal to a first preset value, in order to prevent the transport vehicle from impacting the barrier, the transport vehicle brakes and stops.
Optionally, the track information further includes a plurality of road section information, each road section information corresponds to two node information, and the road section corresponding to each road section information has a plurality of types; different types of road segments correspond to different obstacle detection methods;
the specific method for acquiring the obstacle information based on the preset detection mode comprises the following steps:
acquiring an induction signal, and determining road section information according to node information and path information corresponding to the induction signal;
adopting a corresponding obstacle detection method according to the type of the road section corresponding to the road section information to acquire obstacle information;
if the current road section information corresponds to the curve road section, detecting by a first obstacle detection method;
and if the current road section information corresponds to the straight road section, detecting by a second obstacle detection method.
By adopting the technical scheme, the track laid in the factory is provided with the curve section except the straight line section, the straight line section only needs to detect whether the barrier exists in the advancing direction of the transportation vehicle, and if the detection method which is the same as that of the straight line section is still adopted on the curve section, if the barrier is positioned on the end part of the curve far away from the transportation vehicle, the transportation vehicle is difficult to detect the barrier before entering the curve, and the transportation vehicle is easy to break and hit the barrier after entering the curve, so that different detection methods are adopted aiming at the curve section, different detection methods are arranged according to different road sections, the detection timeliness of the barrier can be effectively improved, and the transportation safety of the transportation vehicle is ensured.
Optionally, the first obstacle detection method includes: determining a detection direction based on the path information, detecting the detection direction to obtain barrier information in the direction,
analyzing whether a barrier corresponding to the barrier information is on the track according to the path information and the barrier information,
if the barrier is on the track, the barrier information is barrier information;
if the barrier is not on the track, the barrier information is not barrier information.
By adopting the technical scheme, when the transport vehicle enters a curve section, whether the transport vehicle turns leftwards or rightwards is judged according to the path information, and the corresponding detection direction is carried out according to the following turning direction.
Optionally, analyzing whether the barrier corresponding to the barrier information is on the track according to the path information and the barrier information, and the specific method includes:
comparing the barrier distance corresponding to the barrier information with a second preset value,
if the barrier distance corresponding to the barrier information is greater than or equal to a second preset value, continuously judging whether the barrier distance exceeds a third preset value;
if the blocking object distance is smaller than or equal to the third preset value, judging that the blocking object is positioned on the track,
if the barrier distance is larger than the third preset value, judging that the barrier is not positioned on the track;
if the distance between the blocking objects is smaller than a first preset value, first positioning point information is analyzed according to the position of a node corresponding to the current first detection signal and the distance between the blocking objects, the blocking objects are continuously detected along with the movement of the transport vehicle to obtain second sensing signals, second positioning point information is analyzed according to the first positioning information and the second sensing signals, and whether a second positioning point corresponding to the second positioning point information is located on a track is judged according to the path information.
Through adopting above-mentioned technical scheme, be in on the track and be in the regional barrier of bend outside all easily judge, but to the regional barrier of bend inboard, the transport vechicle can only detect the barrier before not getting into the bend highway section and towards the tip position of transport vechicle, the tip that the barrier deviates from the transport vechicle is then shielded, consequently can't directly judge whether this barrier keeps off on the track, need continue to remove in order to follow more directions to detect the barrier through the transport vechicle to acquire more accurate data and judge whether the barrier is the barrier.
Optionally, the second positioning point information is analyzed according to the first positioning point information and the second sensing signal, including the following steps:
and continuously detecting the first locating point corresponding to the first locating point information to continuously acquire a detection signal, analyzing the position information of the transport vehicle based on a second locating algorithm according to the detection signal and the first locating point information, and analyzing the second locating point information based on the first locating algorithm according to the position information of the transport vehicle and the second sensing signal.
Through adopting above-mentioned technical scheme, when the transport vechicle just gets into the bend highway section, the transport vechicle senses the node information, and the position of transport vechicle can confirm through the node information this moment, can fix a position the position of the tip of barrier towards the transport vechicle again according to the detected signal, then along with the transport vechicle continues to remove, the position of transport vechicle changes, needs to fix a position the transport vechicle in the opposite direction through the first locating point information that the position that the barrier has successfully been fixed a position corresponds this moment, then the transport vechicle confirms the second locating point information of the other positions of barrier of new detection again according to the second response signal.
Optionally, node information closest to the end point position information in the path information is defined as deceleration point information;
the method for controlling the transport vehicle to move along the track according to the path information further comprises the following steps:
judging whether node information corresponding to the induction signal is deceleration point information or not;
if the node information corresponding to the sensing signal is deceleration point information, controlling the transport vehicle to move at a preset deceleration speed;
and if the node information corresponding to the sensing signal is not the deceleration point information, controlling the transport vehicle to move at a normal speed.
By adopting the technical scheme, the position corresponding to the deceleration point information is close to the end position, and the vehicle starts to run at the deceleration speed at the position corresponding to the deceleration point information, so that the whole movement time of the vehicle is not obviously prolonged, and the vehicle can be ensured to brake in time at the end position, so that the braking distance of the vehicle is not overlong and is not separated from a preset arrival station.
In a second aspect, the present application provides an automatic control system for a rail transport vehicle, which adopts the following technical scheme:
an automatic control system of a rail transport vehicle comprises an induction module and a processing terminal,
the sensing module is used for acquiring sensing signals and transmitting the sensing signals to the processing terminal;
the processing terminal is used for acquiring initial position information and end position information, analyzing path information which takes the initial position information and the end position information as two ends from preset track information, and controlling the transport vehicle to move along the track according to the path information;
the processing terminal also judges whether node information corresponding to the received sensing signal is end position information or not;
if the node information corresponding to the sensing signal is the end position information, the processing terminal controls the transport vehicle to stop, and if the node information corresponding to the sensing signal is not the end position information, the processing terminal controls the transport vehicle to move at a normal speed.
In a third aspect, the present application provides a computer readable storage medium, which adopts the following technical scheme:
a computer readable storage medium storing a computer program capable of being loaded by a processor and executing a method as described above.
In summary, the present application includes at least one of the following beneficial technical effects:
the automatic control of the transport vehicle is realized by generating path information and controlling the movement of the transport vehicle according to the path information, and manual control by workers is not needed;
by detecting the forward direction of the transport vehicle, the information of the obstacle is acquired in advance, and the vehicle is automatically stopped, so that the collision between the transport vehicle and the obstacle is avoided;
through analyzing the barrier detected by the curve section, whether the barrier is a barrier or not is judged, so that the automatic control of the transport vehicle is more intelligent.
Drawings
Fig. 1 is a flow diagram of an embodiment of the present application.
Fig. 2 is a system block diagram of an embodiment of the present application.
Reference numerals illustrate: 1. an induction module; 2. a processing terminal; 21. a driving module; 22. a steering module; 23. a processing module; 24. and a detection module.
Detailed Description
The present application is described in further detail below in conjunction with figures 1-2.
The embodiment of the application discloses an automatic control method of a rail transport vehicle, which is applied to a processing terminal 2, wherein the processing terminal 2 has two working modes of a manual mode and an automatic mode, and is switched in a manual key-press mode.
When the processing terminal 2 is in the manual mode, the worker transmits a movement instruction to the processing terminal 2 by a key operation to the handle, and the processing terminal 2 controls movement of the transportation vehicle according to the movement instruction.
When the processing terminal 2 is in the automatic mode, the processing terminal 2 acquires the end position information based on a manual trigger. The processing terminal 2 acquires initial position information based on preset conditions; the processing terminal 2 analyzes path information with initial position information and end position information as both ends from preset track information. The processing terminal 2 controls the transport vehicle to move along the track according to the path information and acquires the sensing signal. The processing terminal 2 judges whether node information corresponding to the induction signal is end position information or not; if the node information corresponding to the sensing signal is the end position information, the processing terminal 2 controls the transport vehicle to stop, and if the node information corresponding to the sensing signal is not the end position information, the processing terminal 2 controls the transport vehicle to move at a normal speed.
The rails are paved along the stations, and the distribution of the stations is different, so that the paving modes of the rails are also different. For example, when the stations are distributed in a straight line, the rails only need to be arranged along the straight line; when the stations are distributed in a rectangular shape, the track is arranged in an oval shape around all the stations. And, install on every station. The handle can be a wired handle or a remote control handle, namely, the handle and the processing terminal 2 can transmit the action command in a wired mode or in a wireless communication mode. The processing terminal 2 is provided with an induction module 1, each station is provided with an RFID chip, and the transport vehicle is provided with a reader matched with the RFID chip. The reading distance of the reader is about 10cm, and when the transport vehicle stops or passes through a station, the distance between the reader and the RFID chip is less than or equal to 10cm, so that the reader can read the radio frequency signal sent by the RFID chip, the reader converts the radio frequency signal into an induction signal, and information contained in the radio frequency signal is node information. After the reader reads the sensing signal, the sensing signal is transmitted to the processing terminal 2. In addition to the RFID chips being mounted on the stations, the RFID chips are also mounted on both ends of the curve position in the track.
An automatic control method of a rail transport vehicle, see fig. 1, comprises the following steps:
s100, acquiring end position information based on a manual triggering mode.
The end position information is one node information selected from all node information manually, and the position corresponding to the end position information is the end point of the transport vehicle in running.
The manual triggering mode is as follows: the man-machine interaction display screen is arranged on the man-machine transport vehicle, and the processing terminal 2 displays pre-stored track information on the display screen after power is obtained. The track information comprises a plurality of node information and a plurality of road section information, each road section information corresponds to an actual track section, and the track sections corresponding to all the road section information are combined together to form a complete track. The node information in the track information comprises node information of corresponding stations and node information of corresponding curve ends in the track. However, only the node information of the corresponding station in the display screen can be selected in a man-machine interaction mode to be converted into the end position information. Node information corresponding to the end of the curve in the track is displayed on the display screen, but cannot be selected by means of touch screen.
Of course, the worker can also transmit the end position information directly to the processing terminal 2 by wireless communication without touching the carrier vehicle.
S200, acquiring initial position information based on preset conditions.
The initial position information represents the current position of the transporter, but the transporter itself is not provided with positioning information, and the processing terminal 2 can only read the RFID chip by a reader to determine the position of the transporter by means of the read node information.
The preset conditions comprise:
when the reader performs radio frequency transmission with any RFID chip, after receiving the terminal position information, the processing terminal 2 directly acquires the node information read by the reader, and takes the node signal as initial position information.
However, when the processing terminal 2 receives the end position information, the reading distance of the reader does not have the RFID chip, the processing terminal 2 cannot obtain the node information, and the processing terminal 2 controls the transport vehicle to move along the track in one direction until the reader receives the sensing signal.
S300, analyzing path information with initial position information and end position information serving as two ends from the track information.
For tracks without closed loops, such as the linear track described above, the path of movement of the carriage is clear, i.e. the movement path is single from the position corresponding to the initial position information to the end position corresponding to the end position information. However, for a closed-loop track, for example, the above-described elliptical track, there are two sections of path information with the initial position information and the final position information as two ends, so the processing terminal 2 also needs to screen the two sections of path information to confirm the final moving route of the transport vehicle, and the screening standard may be that the path is shortest, the number of passing stations is minimum, and so on.
S400, controlling the transport vehicle to move along the track according to the path information, acquiring induction signals,
judging whether node information corresponding to the induction signal is end position information or not;
and if the node information corresponding to the sensing signal is not the end position information, controlling the transport vehicle to move at a normal speed.
After the path information is determined, the processing terminal 2 starts to control the transport vehicle to move along the route corresponding to the path information, and in the moving process, the reader reads corresponding node information every time the transport vehicle passes through one RFID chip, the processing terminal 2 continuously compares the node information read by the reader with the node information contained in the path information to determine the correct moving route of the transport vehicle, and when the node information identical to the end point position information is finally obtained, the processing terminal 2 controls the transport vehicle to stop moving.
Before the transport vehicle reaches the destination, the speed of the transport vehicle cannot be too high, otherwise, when the processing terminal 2 controls the transport vehicle to brake according to the destination position information, the transport vehicle is easy to break away from the station due to overlong braking time. In order to make the processing terminal 2 clear that the transport vehicle is approaching the destination, the processing terminal 2 needs to be informed in advance, wherein the informing mode is to define the node information closest to the destination position information in the path information as deceleration point information, and judge whether the node information corresponding to the induction signal is the deceleration point information or not in the process that the processing terminal 2 controls the transport vehicle to move along the track according to the path information.
If the node information corresponding to the sensing signal is deceleration point information, controlling the transport vehicle to move at a preset deceleration speed;
and if the node information corresponding to the sensing signal is not the deceleration point information, controlling the transport vehicle to move at a normal speed.
The deceleration speed is lower than the normal speed of the transport vehicle, and is generally set to half the normal speed. Since the position corresponding to the deceleration point information is defined based on the end point position, which is substantially the node position closest to the end point position recorded in the path information, the vehicle starts to travel at half speed at the node position corresponding to the deceleration point information, and the distance that the vehicle needs to travel is limited, and the time that the vehicle needs to spend is minimized.
In the process of controlling the movement of the transport vehicle along the track according to the path information, in addition to the above-described case where deceleration is required near the end point, there is a possibility that an obstacle is caught on the track, in which case the control method of the transport vehicle by the processing terminal 2 further includes the steps of:
acquiring obstacle information based on a preset detection mode, analyzing the real-time distance between the obstacle and the transport vehicle according to the obstacle information, and comparing the real-time distance with a first preset value;
if the real-time distance is greater than the first preset value, controlling the transport vehicle to move at a normal speed;
and if the real-time distance is smaller than or equal to a first preset value, controlling the transport vehicle to stop.
The preset detection method is to acquire the distance between the barrier and the transport vehicle in the forward direction of the transport vehicle by adopting a distance measuring means, and common distance measuring means include various modes such as laser detection, sound wave detection, image detection and the like. The laser detectors are arranged at two ends of the transport vehicle, the laser detectors on the end part of the transport vehicle facing the forward direction emit laser signals in the moving process of the transport vehicle, and when obstacles exist on the path of the laser signal transmission, the obstacles reflect the laser signals back to the laser detectors and receive the laser signals reflected by the obstacles.
The road sections corresponding to the road section information are of two types, namely a straight road section and a curve road section, and the road sections of different types correspond to different obstacle detection methods. Therefore, before the obstacle detection, the type of the next road section of the transport vehicle needs to be determined, and then the corresponding obstacle detection method is selected to acquire the obstacle information. The specific method for acquiring the obstacle information based on the preset detection mode comprises the following steps:
acquiring an induction signal, and determining road section information according to node information and path information corresponding to the induction signal;
adopting a corresponding obstacle detection method according to the type of the road section corresponding to the road section information to acquire obstacle information;
if the current road section information corresponds to the curve road section, detecting by a first obstacle detection method;
and if the current road section information corresponds to the straight road section, detecting by a second obstacle detection method.
According to the difference of the installation positions, the RFID chip can be divided into a first type chip which is installed on a station to play a role in station identification and a second type chip which is installed at the end part of a curve to play a role in road section identification, and the induction signals can be also divided into two corresponding types of signals. The RFID chips at the two ends of the curve road are in pairs, so that the corresponding second-type sensing signals are also in pairs. When the transportation terminal receives one second type of sensing signal, the transportation terminal judges that the current road section information corresponds to a curve road section, finds corresponding node information on the path information to obtain specific conditions of the curve road section, such as curve direction and the like, and after the transportation terminal receives another second type of sensing signal corresponding to the previous second type of sensing signal again, the transportation terminal judges that the curve road section is ended, and the current road section information corresponds to a straight road section.
The first obstacle detection method comprises the following steps: determining a detection direction based on the path information, detecting the detection direction to obtain barrier information in the direction,
analyzing whether a barrier corresponding to the barrier information is on the track according to the path information and the barrier information,
if the barrier is on the track, the barrier information is barrier information;
if the barrier is not on the track, the barrier information is not barrier information.
Analyzing whether a barrier corresponding to the barrier information is on the track according to the path information and the barrier information, wherein the specific method comprises the following steps:
comparing the barrier distance corresponding to the barrier information with a second preset value,
if the barrier distance corresponding to the barrier information is greater than or equal to a second preset value, continuously judging whether the barrier distance exceeds a third preset value;
if the blocking object distance is smaller than or equal to the third preset value, judging that the blocking object is positioned on the track,
if the barrier distance is larger than the third preset value, judging that the barrier is not positioned on the track;
if the distance between the blocking objects is smaller than a first preset value, first positioning point information is analyzed according to the position of the node corresponding to the current sensing signal and the distance between the blocking objects, the blocking objects are continuously detected along with the movement of the transport vehicle to obtain first detection signals, second positioning point information is analyzed according to the first positioning information and the first detection signals, and whether the second positioning point corresponding to the second positioning point information is located on the track is judged according to the path information.
In one embodiment, the second positioning point information is analyzed according to the first positioning information and the first detection signal, and the method specifically comprises the following steps:
and continuously detecting the first positioning point corresponding to the first positioning point information to continuously acquire a second detection signal, analyzing the position information of the transport vehicle based on a second positioning algorithm according to the second detection signal and the first positioning point information, and analyzing the second positioning point information based on the first positioning algorithm according to the position information of the transport vehicle and the first detection signal.
The barrier information comprises intensity information of a reflected signal and angle information of the reflected signal, wherein the intensity information of the reflected signal represents the distance between the barrier and the transport vehicle, and the stronger the intensity corresponding to the intensity information of the reflected signal is, the shorter the distance between the barrier and the transport vehicle is. The detection direction is determined from the path information by determining the orientation of the laser detector from the turning direction of the transporter. In order to realize the change of the detection direction, the laser detector arranged on the end part of the transport vehicle is arranged for rotation and is controlled to rotate by the processing terminal 2. When the transport vehicle passes through a curve section, the areas in the detection direction of the laser detector are an inner area of the curve, a track area and an outer area of the curve in sequence, and no matter which area is provided with the barrier, the barrier can reflect the laser signal emitted by the laser detector back to the laser detector, so that in order to accurately judge whether the barrier blocks the track, the area where the barrier is located needs to be accurately judged. Because the transport vehicle just senses the node information at the end part of the curve, the position of the transport vehicle can be considered to be the position corresponding to the node information, and then the position information of the detected barrier in the track information can be calculated by matching with the barrier information, so that the area where the barrier is located is judged.
However, when the obstacle is located in the area inside the curve, it cannot be determined whether the part of the obstacle, which is not detected, extends into the track area according to the current detected data, and the detection needs to be continued along with the movement of the transport vehicle. With the movement of the transport vehicle, the position of the transport vehicle itself changes, and the position of the transport vehicle needs to be positioned by taking the end of the previously detected barrier as a reference. Therefore, at least two groups of laser detectors are arranged at each end part of the transport vehicle, one group of laser detectors on the transport vehicle always face the end part of the barrier detected before in the moving process of the transport vehicle, and the other group of laser detectors deflect a certain angle to one side of the track so as to detect the residual part of the barrier which is not detected in advance. The position of the end part of the barrier detected before is clear, the position of the transport vehicle can be calculated reversely according to the real-time barrier information, and then the position of the residual end part of the barrier can be calculated through the data acquired by the other group of laser detectors, so that whether the barrier is blocked on the track is judged.
In order to ensure the safety of the vehicle, the speed of the vehicle is also changed to a deceleration speed once the obstacle is detected in the area inside the curve.
In addition, when the transport vehicle moves along the straight line section, the direction of the laser emitted by the laser detector is parallel to the moving direction of the transport vehicle, that is, compared with the complex first obstacle detection method, the second obstacle detection method is only required to adopt the laser detector to emit laser signals along the advancing direction of the transport vehicle so as to detect obstacles.
The embodiment of the application also discloses an automatic control system of the rail transport vehicle, referring to fig. 2, comprising an induction module 1 and a processing terminal 2, wherein the processing terminal 2 comprises a driving module 21, a steering module 22 and a processing module 23.
The sensing module 1 is a reader, and is used for reading radio frequency signals sent by the RFID chip within a reading distance to generate sensing signals.
The processing module 23 is configured to receive the sensing signal and combine the preset track information to determine the current position of the transport vehicle and the road section information that the transport vehicle will pass through next. And, the processing module 23 further determines initial position information according to the received sensing signal, analyzes path information based on the manually inputted end position information, and sends motion instructions to the driving module 21 according to the real-time sensing signal, wherein the motion instructions include a forward instruction, a backward instruction, a normal speed operation instruction, a deceleration speed operation instruction, a parking instruction, and the like. In addition, the processing module 23 is further configured to send the detection direction information to the detection module 24 according to the road segment information.
The detection module 24 is configured to control a detection direction of the laser emitter according to the detection direction information, and receive a detection signal transmitted by the laser emitter, where the detection signal includes a first detection signal and a second detection signal. The detection module 24 determines whether the obstacle is on the track according to the detection signal and sends a corresponding movement instruction to the drive module 21.
The driving module 21 is used for controlling the transportation vehicle to run or stop according to the motion instruction.
The application also discloses a computer readable storage medium storing a computer program capable of being loaded by a processor and executing a method as described above.
The foregoing are all preferred embodiments of the present application, and are not intended to limit the scope of the present application in any way, therefore: all equivalent changes in structure, shape and principle of this application should be covered in the protection scope of this application.
Claims (5)
1. An automatic control method of a rail transport vehicle is characterized by comprising the following steps:
track information is preset, wherein the track information comprises a plurality of node information;
acquiring end position information based on a manual triggering mode;
acquiring initial position information based on preset conditions;
the initial position information and the end position information respectively correspond to different node information;
analyzing path information which takes initial position information and end position information as two ends from the track information;
controlling the transport vehicle to move along the track according to the path information, and acquiring an induction signal, wherein the induction signal corresponds to node information;
judging whether node information corresponding to the induction signal is end position information or not;
if the node information corresponding to the sensing signal is the end position information, controlling the transport vehicle to stop, and if the node information corresponding to the sensing signal is not the end position information, controlling the transport vehicle to move at a normal speed;
in the process of controlling the transport vehicle to move along the track according to the path information, the method further comprises the following steps:
based on a preset detection mode, obtaining obstacle information, analyzing the real-time distance between the obstacle and the transport vehicle according to the obstacle information, and comparing the real-time distance with a first preset value:
if the real-time distance is greater than the first preset value, controlling the transport vehicle to move at a normal speed;
if the real-time distance is smaller than or equal to a first preset value, controlling the transport vehicle to stop;
the track information also comprises a plurality of road section information, each road section information corresponds to two node information, and the road section corresponding to each road section information has a plurality of types; different types of road segments correspond to different obstacle detection methods;
the specific method for acquiring the obstacle information based on the preset detection mode comprises the following steps:
acquiring an induction signal, and determining road section information according to node information and path information corresponding to the induction signal;
adopting a corresponding obstacle detection method according to the type of the road section corresponding to the road section information to acquire obstacle information;
if the current road section information corresponds to the curve road section, detecting by a first obstacle detection method;
if the current road section information corresponds to the straight road section, detecting by a second obstacle detection method;
the first obstacle detection method includes: determining a detection direction according to the path information, detecting the detection direction to acquire barrier information in the direction, analyzing whether a barrier corresponding to the barrier information is on the track according to the path information and the barrier information,
if the barrier is on the track, the barrier information is barrier information;
if the barrier is not on the track, the barrier information is not barrier information;
analyzing whether a barrier corresponding to the barrier information is on the track according to the path information and the barrier information, wherein the specific method comprises the following steps:
comparing the barrier distance corresponding to the barrier information with a second preset value,
if the barrier distance corresponding to the barrier information is greater than or equal to a second preset value, continuously judging whether the barrier distance exceeds a third preset value;
if the blocking object distance is smaller than or equal to a third preset value, judging that the blocking object is positioned on the track;
if the barrier distance is larger than the third preset value, judging that the barrier is not positioned on the track;
if the distance between the blocking objects is smaller than a first preset value, first positioning point information is analyzed according to the position of the node corresponding to the current sensing signal and the distance between the blocking objects, the blocking objects are continuously detected along with the movement of the transport vehicle to obtain first detection signals, second positioning point information is analyzed according to the first positioning information and the first detection signals, and whether the second positioning point corresponding to the second positioning point information is located on the track is judged according to the path information.
2. The automatic control method of a rail transport vehicle according to claim 1, wherein the analysis of the second positioning point information based on the first positioning point information and the first detection signal includes the following steps:
and continuously detecting the first positioning point corresponding to the first positioning point information to continuously acquire a second detection signal, analyzing the position information of the transport vehicle based on a second positioning algorithm according to the second detection signal and the first positioning point information, and analyzing the second positioning point information based on the first positioning algorithm according to the position information of the transport vehicle and the first detection signal.
3. The automatic control method of a rail transport vehicle according to claim 2, characterized in that: defining node information closest to the end point position information in the path information as deceleration point information;
the method for controlling the transport vehicle to move along the track according to the path information further comprises the following steps:
judging whether node information corresponding to the induction signal is deceleration point information or not;
if the node information corresponding to the sensing signal is deceleration point information, controlling the transport vehicle to move at a preset deceleration speed;
and if the node information corresponding to the sensing signal is not the deceleration point information, controlling the transport vehicle to move at a normal speed.
4. An automatic control system of a rail transport vehicle is characterized by comprising an induction module (1) and a processing terminal (2),
the sensing module (1) is used for acquiring sensing signals and transmitting the sensing signals to the processing terminal (2);
the processing terminal (2) is used for acquiring initial position information and end position information, analyzing path information which takes the initial position information and the end position information as two ends from preset track information, and controlling the transport vehicle to move along the track according to the path information;
the processing terminal (2) also judges whether node information corresponding to the received induction signals is end position information or not;
if the node information corresponding to the sensing signal is the end position information, the processing terminal (2) controls the transport vehicle to stop, and if the node information corresponding to the sensing signal is not the end position information, the processing terminal (2) controls the transport vehicle to move at a normal speed;
the processing terminal (2) is also used for acquiring obstacle information, analyzing the real-time distance between the obstacle and the transport vehicle according to the obstacle information, and comparing the real-time distance with a first preset value;
if the real-time distance is larger than a first preset value, the processing terminal (2) controls the transport vehicle to move at a normal speed, and if the real-time distance is smaller than or equal to the first preset value, the processing terminal (2) controls the transport vehicle to stop;
the processing terminal (2) is further used for determining road section information according to node information and path information corresponding to the sensing signals, and the processing terminal (2) adopts a corresponding obstacle detection method to acquire obstacle information according to the type of the road section corresponding to the road section information;
if the current road section information corresponds to a curve road section, the processing terminal (2) detects the curve road section through a first obstacle detection method, and if the current road section information corresponds to a straight road section, the processing terminal (2) detects the curve road section through a second obstacle detection method;
when the processing terminal (2) detects through a first obstacle detection method, determining a detection direction according to the path information, detecting the detection direction to acquire barrier information in the direction, and analyzing whether a barrier corresponding to the barrier information is positioned on a track according to the path information and the barrier information;
if the barrier is on the track, the processing terminal (2) judges that the barrier information is barrier information, and if the barrier is not on the track, the processing terminal (2) judges that the barrier information is not barrier information;
the processing terminal (2) analyzes whether the barrier corresponding to the barrier information is positioned on the track or not by comparing the barrier distance corresponding to the barrier information with a second preset value;
if the barrier distance corresponding to the barrier information is greater than or equal to a second preset value, the processing terminal (2) continuously judges whether the barrier distance exceeds a third preset value;
if the distance between the barrier and the processing terminal (2) is smaller than or equal to a third preset value, judging that the barrier is positioned on the track;
if the barrier distance is larger than a third preset value, the processing terminal (2) judges that the barrier is not positioned on the track;
if the distance between the blocking objects is smaller than a first preset value, the processing terminal (2) analyzes first positioning point information according to the position of the node corresponding to the current sensing signal and the distance between the blocking objects, continuously detects the blocking objects along with the movement of the transport vehicle to obtain first detection signals, analyzes second positioning point information according to the first positioning information and the first detection signals, and judges whether the second positioning point corresponding to the second positioning point information is located on the track according to the path information.
5. A computer readable storage medium, characterized in that a computer program is stored which can be loaded by a processor and which performs the method according to any of claims 1-3.
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