CN114291126A - A locomotive headlamp intelligent deflection control system and method - Google Patents

Abstract

The invention discloses an intelligent deflection control system for a headlamp of a locomotive, which comprises: the system comprises a singlechip system, an orbit sensing system, a satellite positioning system, an embedded self-learning system and a car lamp deflection system; the single chip microcomputer system is respectively and electrically connected with the track sensing system, the satellite positioning system and the embedded self-learning system; the invention also discloses an intelligent deflection control method for the headlamp of the locomotive, which comprises the following steps: s1, acquiring train basic satellite positioning data; s2, self-learning correction is carried out on the orbit data information model obtained in the step S1; s3, referring to the accurate position information of the specific mark position on the track of the train track; and S4, realizing the deflection control of the locomotive headlamp by utilizing the self-learning corrected track data model in the step 3. The invention has the advantage that the direction angle for controlling the steering of the vehicle lamp can be more accurately obtained.

Description

A locomotive headlamp intelligent deflection control system and method

technical field

The invention relates to the field of locomotive positioning, and the follow-up deflection control of locomotive headlights with track curvature, in particular to an intelligent control method for the deflection of railway locomotive headlights.

Background technique

At present, common train positioning methods include track circuit positioning and radio beacons. Track circuit and radio beacon are the most widely used positioning methods at present, but the infrastructure investment of these two methods is huge, and these two positioning methods can only roughly judge the range of the vehicle, but cannot judge the precise position of the vehicle.

However, the headlights of railway locomotives are usually fixed in front of the locomotive. When the locomotive is going straight, it is illuminated in the middle of the rails to ensure that the driver has a good view. It is not possible to synchronously turn with the vehicle. Therefore, the headlights will deviate from the center of the track and shine on the roadbed, which makes it difficult for the locomotive driver to see the situation on the track ahead, which brings great hidden dangers to safe driving, especially in geographical conditions. The complex mountain sections with many bends are even more prominent.

Obviously, the existing train positioning technology only records the position information of the train, and does not provide the direction angle information of the current train, so it cannot be applied to the steering control of the lights, and the economic cost is high.

To sum up, the prior art lacks an intelligent deflection control method for a locomotive headlamp and a device and system for realizing deflection control.

SUMMARY OF THE INVENTION

In view of the above problems and deficiencies, the technical problem to be solved by the present invention is to provide a method and device for realizing intelligent deflection control of locomotive headlights by reading satellite positioning data of adjacent signals and calculating the direction angle of the track. ,system.

In order to solve the above problems, the present invention adopts the following technical solutions.

An intelligent deflection control system for locomotive headlights, which is characterized in that it comprises: a single-chip microcomputer system, a track sensing system, a satellite positioning system, an embedded self-learning system and a vehicle lamp deflection system; The system, the satellite positioning system and the embedded self-learning system are electrically connected;

The track sensing system is mainly composed of magnetic induction coils;

The satellite positioning system is used to obtain the satellite positioning data of the signal machine; the signal machine is arranged along the track;

The embedded self-learning system is used to fit the orbit data information according to the satellite positioning data of the signal machine, establish an orbit data information model, and perform self-learning correction on the obtained orbit data information model;

The vehicle lamp deflection system is used to control the vehicle lamp deflection according to the track data information model information.

Further, the vehicle lamp deflection system is mainly composed of a single chip control system, a stepping motor, a reducer and a rotating sensor.

At the same time, the present invention also provides an intelligent deflection control method for a locomotive headlamp, which is characterized by comprising the following steps:

S1. Acquire basic train satellite positioning data, and fit track data information according to the train basic satellite positioning data, and establish a track data information model;

S2, repeatedly extracting the basic satellite positioning data of the train, and performing self-learning correction on the track data information model obtained in step S1;

S3, with reference to the precise satellite positioning information of the specific marker position on the train track track, further self-learning correction is performed on the track data information model;

S4, using the track data model corrected by the self-learning in step 3 to realize the deflection control of the headlights of the locomotive.

The present invention has the following beneficial effects:

In the present invention, after the locomotive runs once, the railway track data information is obtained through the intelligent deflection control method of the locomotive headlight provided by the present invention. Obtain basic and accurate direction angle data;

At the same time, in order to further improve the accuracy, during the operation of the locomotive, the fixed facilities are taken as the reference point between the signal machines. Since the geographic location coordinates of the reference point are determined by the actual survey and are accurate, the precise coordinates of the reference point and the By comparing the positioning coordinate data obtained by satellite positioning technology, the error Δ of satellite positioning is obtained, and the satellite positioning information of the signal before and after the reference point is corrected to obtain a more accurate direction angle.

To sum up, the present invention has the ability to obtain a more accurate direction angle for the steering control of the lights; at the same time, it utilizes the signals set by the traffic management department itself along the railway line, and does not need to invest in infrastructure construction; in addition, the system itself The development cost is low, so the overall economic cost is low.

Description of drawings

Fig. 1 system block diagram of the present invention

2 is a schematic diagram of the algorithm of the present invention

Figure 3 is a flow chart of the present invention

4 is a schematic diagram of an embodiment of the present invention

FIG. 5 is a schematic structural diagram of the lamp deflection system of the present invention

Detailed ways

This patent uses the satellite positioning signal to fit the basic data information of the railway track, and uses the self-learning algorithm to learn many times and refer to the precise positioning information of specific sign positions (such as bridges, tunnel entrances and exits, etc.) Track information, extract the direction angle of the locomotive traveling to the section, and realize the deflection control of the locomotive headlights accordingly, to ensure that the locomotive headlights always point to the center of the track in front of the locomotive. Specifically, the present invention provides an intelligent deflection control system for a locomotive headlamp, and also provides a control method based on the above-mentioned control system.

1. Specific design and working principle of intelligent deflection control system for locomotive headlamps

As shown in Figure 1 and Figure 4, an intelligent deflection control system for locomotive headlights includes: a single-chip microcomputer system, a track sensing system, a satellite positioning system, an embedded self-learning system and a vehicle lamp deflection system; the single-chip microcomputer system serves as the central The control unit is respectively connected with the orbital sensing system, the satellite positioning system and the embedded self-learning system;

The track sensing system is mainly composed of a magnetic induction coil and an axle counting locator;

The satellite positioning system is used to obtain the satellite positioning data of the signal; the signal is set along the track;

The embedded self-learning system is used to fit the orbit data information according to the satellite positioning data of the signal machine, establish the orbit data information model and carry out self-learning correction to the obtained orbit data information model;

The lamp deflection system is used to control the deflection of the vehicle lamp according to the information of the track data information model.

The working principle of the system is as follows: the intelligent deflection control system of the locomotive headlight of the present invention is integrally installed at the train headlight. Other basic tasks include: measuring the deflection angle of the train ------ to control the deflection of the headlights according to the deflection angle of the train, so that the headlights cannot be turned synchronously with the driving of the car.

1. Measurement method of vehicle deflection angle

Two sets of sensing measurement systems are used at the same time, (1) The magnetic induction coil is used to sense whether the train passes the signal machine, so that the satellite positioning data obtained by the satellite positioning system can determine the coordinate information of the passing signal machine (the satellite positioning data output by the satellite positioning system). It needs to undergo continuous self-learning and correction through the embedded self-learning system, and the specific implementation method is described in detail below); (2) The axle counting locator realizes the current position of the train by reading the pulse information of the axle counting locator of the train under the control of the single chip microcomputer. calculate.

Both sets of sensing and measurement systems work at the same time. When the satellite signal is not shielded, the single-chip microcomputer sends the satellite signal into the embedded system for processing to obtain signal positioning data with higher accuracy. When the train enters the tunnel and other environments without satellite signals , the single-chip microcomputer detects that the output data of the satellite positioning system is interrupted, and then calculates and converts the pulse information of the axle locator output by the axle counting locator into the current train position data, replacing the blank of the positioning data caused by the interruption of the satellite signal, so as to ensure the continuous operation of the embedded system. Calculate the direction angle of the train. The location data and positioning data mentioned above all refer to latitude and longitude data.

2. Control the deflection of the lights according to the deflection angle of the train

As shown in Figure 5, the light deflection system is mainly composed of a stepper motor, a reducer and a rotary sensor. The single-chip microcomputer controls the rotation of the stepper motor. The horizontal shaft of the stepper motor controls the vertical shaft through the reducer, and the vertical shaft controls the lights. rotate. The rotary sensors installed on both sides control the maximum rotation angle of the lights.

2. Intelligent deflection control method of locomotive headlights

As shown in FIG. 1 , an intelligent deflection control method for a locomotive headlamp provided by the present invention calculates the direction angle of the track by reading the satellite positioning data of adjacent signals. And through multiple self-learning, when the locomotive arrives at a signal, the algorithm of the interval direction angle corresponding to the signal and the next signal is determined, and the obtained direction angle is used to realize the automatic deflection control of the locomotive headlights.

In other words, the intelligent deflection control method and system of the locomotive headlight of the present invention can make the locomotive reach a certain signal position through the self-learning method, and obtain the train's direction angle through the traveling direction angle between the signal and the next signal section. Track running direction information, through this information, the deflection of the locomotive headlights is realized, in this way, the locomotive driver can ensure reliable observation and lookout of the track ahead, so as to increase the safety of railway locomotives.

An intelligent deflection control method for a locomotive headlamp, comprising the following steps:

S1. Acquire basic train satellite positioning data, and fit track data information according to the train basic satellite positioning data, and establish a track data information model;

The railway plane track is composed of straight lines, circular curves and transition curves. The straight line can be fitted into a straight line equation, and the transition curve can be replaced by a circular curve equation;

Take two adjacent signals as an example, record the satellite positioning signal (XA, YA) of the signal at signal A, and then reach point D after moving a fixed distance L by reading the pulse information of the axle counter locator of the train. , record the satellite positioning signal (XD, YD) of the point, and calculate the direction angle information ∠AD of AD by formula (1);

When the locomotive reaches the signal machine B, record the satellite positioning signal (XB, YB) of the signal machine, and calculate the direction angle information ∠BD of DB by formula (2):

Take the average value of ∠AD and ∠BD as the direction angle from signal A to signal B.

Obviously, the direction angle data information of each section of the train running track can be obtained through the above basic algorithm, thereby forming the train running track data information model;

S2, repeatedly extracting the basic satellite positioning data of the train, and performing self-learning correction on the track data information model obtained in step S1;

According to the above-mentioned model obtained in step S1, the locomotive runs on the track for many times, and the average value is obtained, and the collected data is repeatedly revised to continuously improve the track data information model;

S3, with reference to the precise satellite positioning information of the specific marker position on the train track track, further self-learning correction is performed on the track data information model;

Comparing the direction angle corresponding to the precise position when passing through special positions such as bridges and tunnels, through self-learning and correction, more accurate data information of the entire track is fitted.

S4, using the track data model corrected by the self-learning in step 3 to realize the deflection control of the headlights of the locomotive;

Obviously, when the locomotive reaches the designated signal, the deflection direction angle of the locomotive headlights can be obtained through this data information, and the deflection direction angle of the locomotive headlights can be used to control the deflection of the headlights.

The following is a detailed description of a preferred embodiment of the invention.

The above-mentioned orbit data information model establishment and self-learning correction process are explained in detail as follows:

For the convenience of description, the intelligent deflection control system of the locomotive headlamp is abbreviated as the locomotive control system 201 .

As shown in Figure 4, the signal is a special device set up by the traffic management department along the track. The distance between each signal is roughly fixed at L, but the set distance is not precisely fixed at L due to terrain and other reasons.

As mentioned above, the single-chip microcomputer realizes the calculation of the current position of the train by reading the pulse information of the axle counter positioner of the train. Axle-counting positioning is to install a speed sensor on the wheel shaft, and calculate the speed by the wheel diameter and speed to obtain the positioning information of the locomotive.

The satellite positioning method is greatly affected by the environment, such as a train running in a tunnel, it cannot be positioned.

The two sensor measurement systems of the present invention work simultaneously. When the satellite signal is not shielded, the single-chip microcomputer sends the satellite signal to the embedded system for processing to obtain signal positioning data with higher precision. When the train enters the tunnel, there is no satellite signal. Under the circumstance, the single-chip microcomputer detects the interruption of the output data of the satellite positioning system, and then calculates and converts the pulse information of the axle locator output by the axle counter locator into the current train position data, and replaces the blank of the positioning data caused by the interruption of the satellite signal to ensure the embedded system. The direction angle of the train can be continuously calculated. Therefore, in fact, the present invention realizes the fusion and complementation of the data of the two sets of sensor measurement systems, so that the present invention has the advantage of high reliability of the train positioning data source.

Specifically, the use and working principle of the axle counter positioner belong to the existing technical means, and will not be repeated here.

The method for determining the coordinate information of the signal machine passed by the satellite positioning data obtained by the satellite positioning system is described in detail as follows: The magnetic induction coil in the track sensor module 201-5 of the locomotive control system 201 set on the train can be used when the train passes the signal machine. The presence of the semaphore is detected and numbered and recorded.

When the train passes the position of the signal 101, the positioning system 201-1 in the locomotive control system 201 set at the headlight obtains the positioning signal 301 transmitted from the satellite 300, and determines the longitude and latitude (X ₁₀₁ , Y ₁₀₁ ) of the signal 101;

When the locomotive 200 passes the position of the signal machine 104, the positioning system 201-1 in the locomotive control system 201 obtains the positioning signal 302 transmitted from the satellite 300, and determines the longitude and latitude (X ₁₀₄ , Y ₁₀₄ ) of the signal machine 104;

When the train passes the position of the signal 102 from the signal 104, the positioning system 201-1 in the locomotive control system 201 obtains the positioning signal 303 transmitted from the satellite 300, and determines the longitude and latitude (X ₁₀₂ , Y ₁₀₂ ) of the signal 102; (X ₁₀₁ , Y ₁₀₁ ), (X ₁₀₄ , Y ₁₀₄ ), (X ₁₀₂ , Y ₁₀₂ ), substitute into formula (3)

The direction angle ∠AB between the signal 101 and the signal 102 is obtained. Between the signal 101 and the signal 102, the body deflection system on the locomotive controls the lights to deflect according to the direction angle ∠AB;

By analogy, when the locomotive 200 passes the signal machine 105, the positioning system 201-1 in the locomotive control system 201 obtains the positioning signal 304 from the satellite 300, and determines the longitude and latitude (X ₁₀₅ , Y ₁₀₅ ) of the signal machine 105 ; When passing through the signal machine 103, the positioning system 201-1 in the locomotive control system 201 obtains the positioning signal 305 transmitted from the satellite 300, and determines the longitude and latitude (X ₁₀₃ , Y ₁₀₃ ) of the signal machine 103;

Substitute (X ₁₀₂ , Y ₁₀₂ ), (X ₁₀₅ , Y ₁₀₅ ), (X ₁₀₃ , Y ₁₀₃ ) into formula (4)

The direction angle ∠BD between the signal 102 and the signal 103 is obtained. Between the signal 102 and the signal 103, the body deflection system on the locomotive makes the headlights deflect according to ∠BD;

After the locomotive runs once, the railway track data information is obtained through the above steps. After the locomotive runs back and forth for many times, the track data information is subjected to multiple self-learning corrections. As in the embodiment, the locomotive is allowed to pass between the signal 101 and the signal 102 5 times. In the interval, the direction angle ∠AB _is constantly revised, so as to obtain more accurate direction angle data. That is, the accuracy is continuously improved through self-learning correction.

At the same time, in order to further improve the accuracy, during the operation of the locomotive, a reference point is taken between the signals, for example, the bridge at the position of the signal 105 between the signal 102 and the signal 103 is taken as the reference position, because fixed facilities such as bridges The geographic location coordinates of the reference point are accurately determined by other means (such as those determined and marked by actual surveys in other industries or management departments, or data obtained from high-precision GPS positioning), and are accurate through the precise coordinates of the reference point. Comparing with the coordinate data of the signal machine 105 obtained by the satellite positioning technology, the error Δ of the satellite positioning is obtained, thereby correcting the satellite positioning information of the signal machine 102 and the signal machine 103, thereby obtaining an accurate direction angle. That is to further improve the accuracy through self-learning correction.

To sum up, the present invention can accurately calculate the deflection direction angle information of the headlights of the vehicle by fitting the track information through the self-learning algorithm for obtaining the track information. But in fact, the above self-learning method still has technical defects: but when the train enters the tunnel and other environmental satellite signals will be interrupted, the position data obtained by satellite positioning is missing at this time, and the driving direction angle cannot be calculated. The solution is to use two The sets of positioning data are complemented and fused. The specific details have been described in detail in the system structure section above, and will not be repeated here.

It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit them. Although the present invention has been described in detail with reference to the preferred embodiments, those of ordinary skill in the art should understand that the technical solutions of the present invention can be Modifications or equivalent substitutions without departing from the spirit and scope of the technical solutions of the present invention should be included in the scope of the claims of the present invention.

Claims (3)

1. a locomotive headlamp intelligent deflection control system, is characterized in that, it comprises: single-chip microcomputer system, track sensing system, satellite positioning system, embedded self-learning system and vehicle lamp deflection system; Sensing system, satellite positioning system, embedded self-learning system are electrically connected; The track sensing system is mainly composed of magnetic induction coils; The satellite positioning system is used to obtain the satellite positioning data of the signal machine; the signal machine is arranged along the track; The embedded self-learning system is used to fit the orbit data information according to the satellite positioning data of the signal machine, establish an orbit data information model, and perform self-learning correction on the obtained orbit data information model; The vehicle lamp deflection system is used to control the vehicle lamp deflection according to the track data information model information. 2. An intelligent deflection control system for locomotive headlamps, characterized in that the vehicle lamp deflection system is mainly composed of a single chip control system, a stepping motor, a reducer and a rotary sensor. 3. A locomotive headlamp intelligent deflection control method, characterized in that, comprising the following steps: S1. Acquire basic train satellite positioning data, and fit track data information according to the train basic satellite positioning data, and establish a track data information model; S2, repeatedly extracting the basic satellite positioning data of the train, and performing self-learning correction on the track data information model obtained in step S1; S3. Carrying out further self-learning correction on the track data information model with reference to the precise position information of the specific marker position on the train track track; S4, using the track data model corrected by the self-learning in step 3 to realize the deflection control of the headlights of the locomotive.

Images