CN101519077B - Positioning device and method of Torpedo car - Google Patents
Positioning device and method of Torpedo car Download PDFInfo
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- CN101519077B CN101519077B CN2008100338474A CN200810033847A CN101519077B CN 101519077 B CN101519077 B CN 101519077B CN 2008100338474 A CN2008100338474 A CN 2008100338474A CN 200810033847 A CN200810033847 A CN 200810033847A CN 101519077 B CN101519077 B CN 101519077B
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Abstract
A real-time positioning device of a Torpedo car comprises a positioning subsystem and a command subsystem, wherein the positioning subsystem comprises a central station of a positioning monitoring system, a positioning terminal and a vehicle position display screen; and the command subsystem comprises a central station of a data transmission command system and a data transmission terminal; the central station of the positioning monitoring system is respectively connected with the central station of the data transmission command system and the vehicle position display screen; and wireless communication is carried out between the central station of the positioning monitoring system and the positioning terminal as well as between the central station of the data transmission command system andthe data transmission terminal. The positioning device is characterized in that the positioning terminal and the data transmission terminal are only arranged on a locomotive; the device also comprise s a calculation subsystem, namely a virtual positioning computer which is respectively connected with the central station of the data transmission command system and the central station of the positioning monitoring system, the calculation subsystem finishes real-time calculation of the position of Torpedo car and feeds back the result to the positioning subsystem for displaying after receiving the information of the positioning subsystem and the command subsystem according to the real-time position information and the operational command information of the locomotive.
Description
Technical field
The present invention relates to the real-time dynamic positioning device and method of the real-time dynamic positioning device and method, particularly steel plant's torpedo hot metal mixer car of moving vehicle or machinery.
Background technology
At present targets such as moving vehicle are carried out the method for dynamicpositioning, frequency of radio (TRF), map matching technology methods such as (Map Matching) on main employing global positioning system (GPS), inertial navigation system (INS), the road, in order to improve precision, the also integrated positioning that can adopt multiple localization method to combine.
Above-mentioned location technology all needs corresponding locating terminal is installed on anchored object, and this just needs anchored object that suitable installation site and stable power can be provided.
Development along with social informatization, the application of location technology is increasingly extensive, for improving the organizational efficiency of steel plant's molten iron transportation, need monitor all molten iron transport vehicles, to grasp its real time position, but because the spacing of inter-railway is very little, the accurate location of realizing vehicle is very high for the requirement of accuracy of positioning and stability, and the production scene steel structure is intensive, the signal strength of subregion global positioning system is very low, therefore need to adopt global positioning system to unify combined orientation technology that inertial navigation system combines, realize the location of molten iron transport vehicle, and adopt the final terminal of combined orientation technology to have complex structure, investment and maintenance cost problem of higher.
Applicant by the application applies on March 26th, 1999, and put down in writing a kind of torpedo hot metal mixer car apparatus for real time tracking and method in the Chinese patent ZL99103403.1 that authorized on July 23rd, 2003.This device comprises the differential position system receiver that receives global satellite positioning signals, receiver is with the signal input industrial computer that receives, the communication machine that industrial computer and reception and transmission data are used, ID recognizer and the power supply of identification torpedo hot metal mixer car ID join, use the electronic chart in zone and satellite-signal to mate the back round-off error torpedo hot metal mixer car, obtain the longitude and latitude data message of torpedo hot metal mixer car, this device is installed on torpedo hot metal mixer car and the locomotive, store in the torpedo hot metal mixer car work area longitude and latitude and location information high accuracy data one to one in the industrial computer, with the satellite longitude and latitude Data Matching of receiving, revise calibration, by the communication machine with the accurate dynamic location information of the torpedo hot metal mixer car that obtains: license number, the position, direction, speed is real-time, send to Control Centre's computing machine of enterprise continuously.
The torpedo hot metal mixer car apparatus for real time tracking of putting down in writing in this patent is installed on locomotive and the torpedo hot metal mixer car when being.
This with referring to mode introduce all communiques, patent application mentioned in this specification sheets.
Because the molten iron transport vehicle is divided into locomotive that traction power is provided and hot-metal ladle and carriage (being torpedo hot metal mixer car) two classes of loading molten iron, hot-metal ladle and carriage is because itself is unpowered, draw by locomotive when transporting molten iron, thereby can't provide the working power of locating terminal, realize real-time positioning as need installing and locating terminal, then need to increase extra power supply supply and corresponding handling labor.
In addition, anchored objects such as hot-metal ladle and carriage are operated under high dust, strong motion, the hi-heat industrial environment, also can cause the high problem of its positioning terminal equipment fault rate, thereby influence the operation stability and the real-time of total system.Also there are problems such as investment and operation expense height simultaneously.
Summary of the invention
The technical problem to be solved in the present invention provides a kind of real-time positioning apparatus and method of torpedo hot metal mixer car, and these apparatus and method need not installing and locating final terminal on torpedo hot metal mixer car, realizes the real-time positioning of torpedo hot metal mixer car equally.
The prerequisite that logistics is unimpeded is the unimpeded of flow of information, realize the efficient scheduling of molten iron transport vehicle, need to provide the assurance of information by two cover systems, the control center will grasp the dynamic real-time position of molten iron transport vehicle by " position fixing system ", and can job instruction in time be handed down to the trainman by " number teletype command system ", the operation of this two covers Information Assurance system is separate.
Because torpedo hot metal mixer car itself is unpowered, it moves the pulling that must rely on locomotive or promotes to realize, that is to say that the change in location of torpedo hot metal mixer car necessarily is accompanied by the change in location of corresponding locomotive.
Simultaneously, the trainman then carries out operation in strict accordance with the dispatcher by the job instruction that " number teletype command system " issues, and promptly to the corresponding location appointment torpedo hot metal mixer car is articulated, and is sent to subsequently behind the work station point of appointment and its disengaging.And include engine number, torpedo hot metal mixer car number in the command content, the torpedo hot metal mixer car initial sum stops data messages such as station period.
Comprehensive above-mentioned 2 points then can by the establishment special software, be extrapolated the current location of torpedo hot metal mixer car in conjunction with the real time position of locomotive in the job instruction information in " number teletype command system " and " position fixing system ".Be locomotive and torpedo hot metal mixer car when articulating, the position of torpedo hot metal mixer car is the correction that corresponding locomotive position adds locomotive overall length, and after locomotive and the torpedo hot metal mixer car decoupling device, the position of torpedo hot metal mixer car can be thought and remains on the decoupling device position, until locomotive and this torpedo hot metal mixer car are linked up with next time.
Registration device and method that the present invention proposes, be exactly according to above-mentioned principle, locating terminal is installed on the locomotive, and by the collection of information between location and instruction repertoire, shared and reckoning, realization torpedo hot metal mixer car not installing and locating terminal also can be realized the purpose of dynamic real-time location.
According to registration device of the present invention and localization method, in the location of independent operating mutually with instruct and increase the estimator system between two cover subsystems, i.e. " virtual position computer ", and customised virtual location reckoning software, system architecture is become comprise the location, instruct and calculate that one of three subsystems overlap system ensemble.
According to the present invention, torpedo hot metal mixer car real-time positioning device comprises:
Positioning subsystem, it comprises positioning monitoring system central sation, locating terminal, vehicle position display screen;
Command subsystem, it comprises several teletype command systems center stations and data transmission terminal;
The positioning monitoring system central sation is connected with number teletype command systems center station, vehicle position display screen respectively;
Between positioning monitoring system central sation and the locating terminal, carry out wireless telecommunications between number teletype command systems center station and the data transmission terminal;
It is characterized in that,
Described locating terminal and data transmission terminal only are installed on the locomotive;
This device also comprises the estimator system, it is virtual position computer, be connected with number teletype command systems center station, positioning monitoring system central sation respectively, this estimator system can finish the real-time reckoning of torpedo hot metal mixer car position and the torpedo hot metal mixer car location information of calculating is fed back to positioning subsystem and show after the information that has received location and command subsystem according to the real-time position information of locomotive and job instruction information.
Described positioning subsystem can also comprise the location relaying, and positioning monitoring system central sation and locating terminal carry out wireless telecommunications by this location relaying.Described location relaying is transmitted being installed in the information of carrying out between locating terminal on the locomotive and the positioning monitoring system central sation, accurately transmits in order to guarantee locomotive location information.
Described virtual position computer, it for example is the above desktop PC of a P4, be connected with number teletype command systems center station with the positioning monitoring system central sation respectively by physical interface, the customized software of being installed can receive the real-time positioning information and the number teletype command information of locomotive, and calculates the real-time position information of torpedo hot metal mixer car by algorithm.The algorithm of wherein said customized software is locomotive and torpedo hot metal mixer car " to be articulated/decoupling device " state judge that when articulating state, the location information of torpedo hot metal mixer car is that the dynamic location information of locomotive adds torpedo hot metal mixer car length correction amount; When the decoupling device state, the position of torpedo hot metal mixer car remains on the decoupling device position, up to locomotive and this torpedo hot metal mixer car are linked up with next time.Writing of described customized software is routine techniques, no matter adopts which kind of software development programming technique, promptly is suitable for as long as can reliably realize above-mentioned algorithm.
Described command subsystem, pass the human interface device at systems center station by dispatcher's function digit, generate the locomotive shunting instruction and be issued to data transmission terminal, data transmission terminal receives and shows the literal and the numerical information of the instruction that issues, watch for the trainman, realize the commander of dispatcher driver's operation.
Comprise job instruction, engine number, torpedo hot metal mixer car number in the command content of described command subsystem, the torpedo hot metal mixer car initial sum stops data messages such as station period.
Described vehicle position display screen is a kind of graphic display device, adopt graphics mode to show the electronic chart of the railway in certain geographic range, and by the location information of looking for the designated vehicle of receiving, dynamically simulate its on railway static or the motion real-time status.
Described locating terminal comprises: the equipment such as communication machine, direct supply and power save circuit that the ID sign indicating number recognizer of industrial computer, log, aspect sensor, vehicle identification locomotive ID, difference satellite positioning signal receiver, reception and transmission data are used.Industrial computer is gathered warp, the latitude information that log information, aspect sensor information and difference satellite positioning signal receiver transmit, handle by certain calculation, obtain the real time position data of locomotive, and this position data is sent to central sation by the communication machine use for system.
Torpedo hot metal mixer car real-time location method of the present invention comprises:
Positioning subsystem carries out real-time positioning to locomotive position;
Command subsystem is sent job instruction information to locomotive;
The estimator system receives the information of positioning subsystem and command subsystem, finishes the real-time reckoning of torpedo hot metal mixer car position and the torpedo hot metal mixer car location information of calculating is fed back to positioning subsystem according to the job instruction information of the locomotive real-time position information of positioning subsystem and command subsystem to show.
According to torpedo hot metal mixer car real-time location method of the present invention, comprise the steps: particularly
1) torpedo hot metal mixer car position initialization;
2) extract the locomotive locating information;
3) set up locomotive and torpedo hot metal mixer car and " articulate " relational database;
4) monitoring locomotive run location;
5) calculate the position of carrying out torpedo hot metal mixer car according to " articulating/decoupling device " state of locomotive and torpedo hot metal mixer car;
9) refresh torpedo hot metal mixer car and locomotive and " articulate " relation;
10) revise " articulating " data bank by new incidence relation;
11) since the 4th) step circulates successively.
Calculate the position of described torpedo hot metal mixer car: when locomotive and torpedo hot metal mixer car hook, the position of torpedo hot metal mixer car is the correction that corresponding locomotive position adds locomotive overall length, after locomotive and the torpedo hot metal mixer car decoupling device, the position of torpedo hot metal mixer car remains on the decoupling device position, up to locomotive and this torpedo hot metal mixer car are linked up with next time.
The described the 5th) step is:
A) judging whether locomotive arrives can " articulate/decoupling device " point range, monitors if do not arrive then continue, if arrive, then
B) judge whether the special action of " articulating/decoupling device " car, if do not have the special action of " articulating/decoupling device " car then continue described 4) step, if the special action of " articulating/decoupling device " car is arranged, then
C) judge and to have or not dependent instruction, if do not have dependent instruction then get back to described 4) step, if dependent instruction is arranged, then
D) carry out " articulating " or " decoupling device ", torpedo hot metal mixer car is handled by the mode of articulating when articulating, and then handle by the decoupling device mode torpedo hot metal mixer car position when decoupling device.
Described " articulating/decoupling device " point range is to specify work station point or deposit line.
Described " articulating/decoupling device " car special action is meant that locomotive articulates the action of torpedo hot metal mixer car or decoupling device torpedo hot metal mixer car.
Described torpedo hot metal mixer car is handled by company's extension mode: after judging that locomotive and torpedo hot metal mixer car have articulated, showing on the large-size screen monitors, torpedo hot metal mixer car will move with locomotive, the location information of torpedo hot metal mixer car will be bound with the location information of locomotive, and the location information of torpedo hot metal mixer car is that the dynamic location information of locomotive adds torpedo hot metal mixer car length correction amount.
Described torpedo hot metal mixer car is handled by the decoupling device mode: after judging that locomotive and torpedo hot metal mixer car break off relations, the torpedo hot metal mixer car location information is separated with locomotive, is showing that torpedo hot metal mixer car is parked on the work station point of unhook on the large-size screen monitors, and the location information of torpedo hot metal mixer car is the location information of corresponding work station point.
In the present invention, positioning subsystem is realized the physical positioning of locomotive and provides its location information to the estimator system that the torpedo hot metal mixer car location information that receives the estimator system outlet is finished all vehicle locations demonstrations simultaneously.
Command subsystem is realizing providing job instruction information to the estimator system simultaneously on the basis that former operation instruction issues.
And after newly-increased estimator system received the information of location and command subsystem, finish the real-time reckoning of torpedo hot metal mixer car position and the torpedo hot metal mixer car location information of calculating is fed back to positioning subsystem according to the real-time position information of locomotive and job instruction information and show.
The specific implementation process of the inventive method is: virtual locating periodically is articulated to another work station point break off relations end to torpedo hot metal mixer car at a work station point by locomotive, on-the-spot torpedo hot metal mixer car and locomotive articulate or the stand that breaks off relations all be the appointment work station point or deposits line, after scheduling issued a collection of Planning Directive to certain locomotive, this locomotive carried out operation to the corresponding location to corresponding torpedo hot metal mixer car according to the precedence of instruction.System can calculate the particular location that articulates or break off relations and the time of locomotive and torpedo hot metal mixer car according to constantly the information of four aspects, position on dynamic position, command content and the torpedo hot metal mixer car of the direct of travel of locomotive, locomotive.
After judging that locomotive and torpedo hot metal mixer car have articulated, the location information of torpedo hot metal mixer car will be bound with the location information of locomotive, showing on the large-size screen monitors, torpedo hot metal mixer car will move with locomotive, the location information of torpedo hot metal mixer car is that the dynamic location information of locomotive adds torpedo hot metal mixer car length correction amount, thereby realizes that the torpedo hot metal mixer car dynamic position is virtual; And after judging that locomotive and torpedo hot metal mixer car break off relations, the torpedo hot metal mixer car location information is separated with locomotive, showing on the large-size screen monitors, torpedo hot metal mixer car is parked on the work station point of unhook, the location information of torpedo hot metal mixer car is the location information of corresponding work station point, thereby realize that the torpedo hot metal mixer car static position is virtual, the flow process of specific implementation this method is seen Fig. 3.
Key node in the technical program implementation procedure is for locomotive and torpedo hot metal mixer car articulates or the accurate judgement of the location and time that breaks off relations, thereby in calculating software, engine number in adopting the locomotive shunting Planning Directive, torpedo hot metal mixer car number, torpedo hot metal mixer car initial sum stop a last moment position of information such as station period and torpedo hot metal mixer car as the judgment basis, also can be by articulating or the catching and information such as railway technological process that each is specific of locomotive special action when breaking off relations, to calculating that the result verifies, to improve accuracy.
Adopt torpedo hot metal mixer car registration device of the present invention and method, under the prerequisite that does not influence effect, can not be pulled installing and locating final terminal on the car, both can save the hardware investment of system, can improve the operation stability of system again, reduce plant maintenance work capacity and maintenance cost, go back the easy dilatation of feasible system simultaneously.
Method of the present invention is a kind of effective solution of realizing low cost, the monitoring of high stability real-time positioning in industrial environment at special object.
Description of drawings
Fig. 1 is the registration device scheme drawing of prior art.
Fig. 2 is a registration device scheme drawing of the present invention.
Fig. 3 is a position fixing process diagram of circuit of the present invention.
Fig. 4～9th, the scheme drawing in each stage of position fixing process of the present invention.
Description of reference numerals
31 locomotives
311 locating terminals
312 data transmission terminals
32 torpedo hot metal mixer cars
321 locating terminals
33 location repeater stations
34 positioning monitoring system stations
35 instruction repertoire stations
36 vehicles show large-size screen monitors
21 locomotives
211 locating terminals
212 data transmission terminals
22 torpedo hot metal mixer cars
23 location relayings
24 positioning monitoring system stations
25 instruction repertoire stations
26 vehicle locations show large-size screen monitors
27 virtual position computers
01 torpedo hot metal mixer car
02 torpedo hot metal mixer car
03 torpedo hot metal mixer car
601 locomotives
11 work station points
12 work station points
The specific embodiment
Fig. 1 is the registration device scheme drawing of prior art.
Positioning subsystem comprises positioning monitoring system central sation 34, locating terminal 311,321 and location relaying 33, wherein, locating terminal 311,321 is installed in respectively on locomotive 31 and the torpedo hot metal mixer car 32, and positioning monitoring system central sation 34 and locating terminal 311,321 carry out wireless telecommunications by location relaying 33; Command subsystem comprises several teletype command systems centers station 35 and data transmission terminal 312, and wherein data transmission terminal is installed on the locomotive 31, carries out wireless telecommunications between number teletype command systems center station 35 and the data transmission terminal 312.
The prerequisite that logistics is unimpeded is the unimpeded of flow of information, realize the efficient scheduling of molten iron transport vehicle, need to provide the assurance of information by two cover systems, the control center will grasp the dynamic real-time position of molten iron transport vehicle by " position fixing system ", and can job instruction in time be handed down to the trainman by " number teletype command system ", the operation of this two covers Information Assurance system is separate, as shown in Figure 1.
Because torpedo hot metal mixer car itself is unpowered, it moves the pulling that must rely on locomotive or promotes to realize, that is to say that the change in location of torpedo hot metal mixer car necessarily is accompanied by the change in location of corresponding locomotive.
Simultaneously, the trainman then carries out operation in strict accordance with the dispatcher by the job instruction that " number teletype command system " issues, and promptly to the corresponding location appointment torpedo hot metal mixer car is articulated, and is sent to subsequently behind the work station point of appointment and its disengaging.And include engine number, torpedo hot metal mixer car number in the command content, the torpedo hot metal mixer car initial sum stops data messages such as station period.
Comprehensive above-mentioned 2 points then can by the establishment special software, be extrapolated the current location of torpedo hot metal mixer car in conjunction with the real time position of locomotive in the job instruction information in " number teletype command system " and " position fixing system ".Be locomotive and torpedo hot metal mixer car when articulating, the position of torpedo hot metal mixer car is the correction that corresponding locomotive position adds locomotive overall length, and after locomotive and the torpedo hot metal mixer car decoupling device, the position of torpedo hot metal mixer car can be thought and remains on the decoupling device position, until locomotive and this torpedo hot metal mixer car are linked up with next time.
The present invention is exactly according to above-mentioned principle, the collection by information between location and instruction repertoire, shares and calculates, not under the condition of installing and locating terminal, also can realize the purpose to torpedo hot metal mixer car dynamic real-time location at torpedo hot metal mixer car.
The method according to this invention, in the location of independent operating mutually with instruct and increase the estimator system between two cover systems, i.e. " virtual position computer ", and software is calculated in customised virtual location, system architecture is become comprise the location, instruct and calculate that one of three subsystems overlap system ensemble, system's particular hardware structure is seen Fig. 2.
Fig. 2 is a registration device scheme drawing of the present invention.
Torpedo hot metal mixer car real-time positioning device of the present invention comprises:
Positioning subsystem comprises positioning monitoring system central sation 24, locating terminal 211 and vehicle position display screen 26;
Command subsystem comprises several teletype command systems centers station 25 and data transmission terminal 212;
Positioning monitoring system central sation 24 is connected with number teletype command systems center station 25, vehicle position display screen 26 respectively;
Between positioning monitoring system central sation 24 and the locating terminal 211, carry out wireless telecommunications between number teletype command systems center station 25 and the data transmission terminal 212;
Locating terminal 211 and data transmission terminal 212 only are installed on the locomotive 21, and equipment such as any locating terminal are not installed on the torpedo hot metal mixer car 22;
This device also comprises the estimator system, it is virtual position computer 27, be connected with number teletype command systems center station 25, positioning monitoring system central sation 24 respectively, this estimator system can finish the real-time reckoning of torpedo hot metal mixer car 22 positions and the torpedo hot metal mixer car location information of calculating is fed back to positioning subsystem and show after the information that has received positioning subsystem and command subsystem according to the real-time position information of locomotive 21 and job instruction information.
Described virtual position computer 27 is the above desktop PCs of a P4, be connected with number teletype command systems center station 25 with positioning monitoring system central sation 24 respectively by physical interface, the customized software of being installed can receive the real-time positioning information and the number teletype command information of locomotive 21, and calculates the real-time position information of torpedo hot metal mixer car 22 by algorithm.
Positioning subsystem can be any system and equipment that carries out real-time positioning, and preferably, positioning subsystem is GPS (Global Position System) (GPS), by being installed in final terminal 211, the positioning monitoring system central sation 24 on the locomotive 21 and showing that large-size screen monitors 26 constitute.
According to more preferably mode of the present invention, positioning subsystem also comprises repeater station 23, positioning monitoring system central sation 24 and be installed between the final terminal 211 on the locomotive 21 and carry out wireless telecommunications by repeater station 23.
The final terminal 211 that is arranged on the locomotive 21 comprises: the equipment such as communication machine, direct supply and power save circuit that the ID sign indicating number recognizer of industrial computer, log, aspect sensor, identification locomotive ID, difference satellite positioning signal receiver, reception and transmission data are used.The said equipment is formed an all-weather real-time integrated navigation system.When locomotive operation when outdoor, difference satellite positioning signal receiver is according to satellite positioning signal and differential corrections data, the present accurate longitude and latitude location information of output locomotive.When satellite-signal is blocked, difference satellite positioning signal receiver can't be oriented locomotive longitude and latitude accurately, industrial computer is then according to the defeated displacement information of log and the angle change information of aspect sensor output, and the historical position information of locomotive, extrapolate the actual position information of vehicle.The real-time position information of locomotive and ID sign indicating number recognizer adopt the mode of wireless data transmission to be sent to positioning monitoring system central sation 24 by the communication machine and handle, use for system after being made up by industrial computer.Direct supply and power save circuit provide working power for final terminal 211.
Vehicle position display screen 26 is a kind of graphic display devices, can adopt graphics mode to show the electronic chart of the railway in certain geographic range, and by the location information of the designated vehicle of receiving, dynamically simulates the real-time status of its static or motion on railway.
Command subsystem is to be made of number biography systems center station 25 and data transmission terminal 212, the two realizes communication by radio, dispatcher's function digit passes the human interface device at systems center station 25, generate locomotive 21 job instructions and be issued to data transmission terminal 212, data transmission terminal 212 is used for receiving and showing the literal and the numerical information of the instruction that issues, watch for the driver, realize the commander of dispatcher driver's operation.
Comprise job instruction, engine number, torpedo hot metal mixer car number in the command content of command subsystem, the torpedo hot metal mixer car initial sum stops data messages such as station period.
Positioning subsystem receives global satellite positioning signals, and the signal that receives is imported virtual position computer 27, and virtual position computer 27 is according to the articulate state of locomotive 21 with torpedo hot metal mixer car 22, the position of calculating torpedo hot metal mixer car.
Fig. 3 is a position fixing process diagram of circuit of the present invention.
At first in 201 steps, to the torpedo hot metal mixer car position initialization;
Extract the locating information of locomotive then in 202 steps;
Set up the locking relation data bank of locomotive and torpedo hot metal mixer car in 203 steps;
In step 204, the monitoring locomotive run location;
In 205 steps, judge whether locomotive has arrived the point range that can " hang/pluck " torpedo hot metal mixer car, " articulating/decoupling device " point range is to specify work station point or deposit line, if do not have to arrive the point range that can " hang/pluck " torpedo hot metal mixer car, then gets back to step 204; If arrived the point range that " to hang/pluck " torpedo hot metal mixer car, then carry out next procedure;
In 206 steps, judge whether the special action of " hanging/pluck ", articulating/decoupling device " the car special action is meant that locomotive articulates the action of torpedo hot metal mixer car or decoupling device torpedo hot metal mixer car; If do not have the special action of " hanging/pluck ", then get back to 205 steps; If the special action of " hanging/pluck " is arranged, then carry out next step;
In 207 steps, judge whether relevant job instruction, if not relevant job instruction is then got back to step 206; If relevant job instruction is arranged, then carry out next step;
Are 208 steps again, decision instruction " connect and hang ", still " decoupling device "? If instruction is " connect and hang ", 209 steps of arriving, handle according to connecting the extension mode torpedo hot metal mixer car position, just after judging that locomotive and torpedo hot metal mixer car have articulated, showing on the large-size screen monitors, torpedo hot metal mixer car will move with locomotive, and the location information of torpedo hot metal mixer car will be bound with the location information of locomotive, and the location information of torpedo hot metal mixer car is that the dynamic location information of locomotive adds torpedo hot metal mixer car length correction amount; If instruction is " decoupling device ", 210 steps of arriving, handle according to the decoupling device mode torpedo hot metal mixer car position, just after judging that locomotive and torpedo hot metal mixer car break off relations, the torpedo hot metal mixer car location information is separated with locomotive, showing that torpedo hot metal mixer car is parked on the work station point of unhook on the large-size screen monitors, the location information of torpedo hot metal mixer car is the location information of corresponding work station point;
In 211 steps, refresh torpedo hot metal mixer car and locomotive and " articulate " relation;
In 212 steps, revise " articulating " data bank by new incidence relation;
Getting back to 204 steps continues.
In a common production operation process, adopt technical scheme of the present invention that torpedo hot metal mixer car is realized that the detailed process of location is as follows:
Fig. 4～9th, the scheme drawing in each stage of position fixing process of the present invention.
Job requirements: No. 11 work station points of 601# locomotive to a blast furnace iron notch articulate the 01# torpedo hot metal mixer car, deliver to and leave after a steel desulfurization work station point breaks off relations for No. 42.
Job instruction: 601 11+01 (601# locomotive to 11 work station point articulates the 01# torpedo hot metal mixer car);
601 42-01 (601# locomotive to 42 work station point unhook 01# torpedo hot metal mixer car).
According to " 601 11+01 " instruction and " 60142-01 " instruction that send to locomotive at number teletype command systems center station 25, the 601# locomotive is advanced to No. 11 work station points at 111 sections of a blast furnace iron notch, as shown in Figure 4.
In it entered the determination range that articulates, breaks off relations of No. 11 work station points, 27 inquiries of virtual position computer were not finished instruction to what the 601# locomotive issued, as shown in Figure 5.The instruction that discovery has the 01# torpedo hot metal mixer car to No. 11 work station points to articulate, then the integrated information according to operation judges whether to articulate, in case judge and articulate, then the location information and the 601# locomotive of 01# torpedo hot metal mixer car is bound, as shown in Figure 6.The 01# torpedo hot metal mixer car moves with the 601# locomotive.The location information of torpedo hot metal mixer car is that the dynamic location information of locomotive adds torpedo hot metal mixer car length correction amount.
The 601# locomotive pushing away the 01# torpedo hot metal mixer car between a steel desulfurization 421 sections advance to No. 42 work station points, as Fig. 7.In it entered the determination range that articulates, breaks off relations of No. 42 work station points, 27 inquiries of virtual position computer were not finished instruction to what the 601# locomotive issued, as Fig. 8.The instruction that discovery has pair 01# torpedo hot metal mixer car to break off relations at No. 42 work station points, then the integrated information according to operation judges whether to break off relations, in case the location information binding of releasing and 601# locomotive is broken off relations in judgement, No. 01 torpedo hot metal mixer car is placed on work station point No. 42, as shown in Figure 9.The location information of torpedo hot metal mixer car is the location information of corresponding work station point.
By enforcement of the present invention, the fault rate of system was from having dropped to monthly 0.5 time for monthly 14 times originally, and fault rate significantly descends; Simultaneously, operation expense also significantly is reduced to about 100,000/year by former 600,000/year, has obtained good effect.
More than be the present invention have been carried out comparatively detailed explanation, but be not limited only to these embodiment, under the condition that does not break away from design of the present invention, more diverse embodiment can also be arranged by embodiment.
Claims (16)
1. torpedo hot metal mixer car real-time positioning device comprises:
Positioning subsystem comprises positioning monitoring system central sation, locating terminal and vehicle position display screen;
Command subsystem comprises several teletype command systems center stations and data transmission terminal;
The positioning monitoring system central sation is connected with number teletype command systems center station, vehicle position display screen respectively;
Between positioning monitoring system central sation and the locating terminal, carry out wireless telecommunications between number teletype command systems center station and the data transmission terminal;
It is characterized in that,
Described locating terminal and data transmission terminal only are installed on the locomotive;
This device also comprises the estimator system, it is virtual position computer, be connected with number teletype command systems center station, positioning monitoring system central sation respectively, this estimator system can finish the real-time reckoning of torpedo hot metal mixer car position and the torpedo hot metal mixer car location information of calculating is fed back to positioning subsystem and show after the information that has received location and command subsystem according to the real-time position information of locomotive and job instruction information.
2. device according to claim 1, it is characterized in that, described positioning subsystem also comprises the location relaying, carry out wireless telecommunications by this location relaying between the locating terminal on positioning monitoring system central sation and the locomotive, described location relaying is transmitted being installed in the information of carrying out between locating terminal on the locomotive and the positioning monitoring system central sation, accurately transmits in order to guarantee locomotive location information.
3. device according to claim 1, it is characterized in that, described virtual position computer is the above desktop PC of a P4, be connected with number teletype command systems center station with the positioning monitoring system central sation respectively by physical interface, the customized software of being installed can receive the real-time positioning information and the number teletype command information of locomotive, and calculates the real-time position information of torpedo hot metal mixer car by algorithm.
4. device according to claim 3, it is characterized in that, the algorithm of described customized software is locomotive and torpedo hot metal mixer car " to be articulated/decoupling device " state judge that when articulating state, the location information of torpedo hot metal mixer car is that the dynamic location information of locomotive adds torpedo hot metal mixer car length correction amount; When the decoupling device state, the position of torpedo hot metal mixer car remains on the decoupling device position, up to locomotive and this torpedo hot metal mixer car are linked up with next time.
5. device according to claim 1, it is characterized in that, described command subsystem, pass the human interface device at systems center station by dispatcher's function digit, generate the locomotive shunting instruction and be issued to data transmission terminal, data transmission terminal receives and shows the literal and the numerical information of the instruction that issues, and watches for the trainman, realizes the commander of dispatcher to driver's operation.
6. device according to claim 1 is characterized in that, comprises job instruction data, engine number data, torpedo hot metal mixer car data, torpedo hot metal mixer car initial sum termination station period data in the command content of described command subsystem.
7. device according to claim 1, it is characterized in that, described vehicle position display screen is a kind of graphic display device, adopt graphics mode to show the electronic chart of the railway in certain geographic range, and, dynamically simulate the real-time status of its static or motion on railway by the location information of the designated vehicle that receives.
8. device according to claim 1, it is characterized in that described locating terminal comprises: communication machine, direct supply and power save circuit that the ID sign indicating number recognizer of industrial computer, log, aspect sensor, vehicle identification locomotive ID, difference satellite positioning signal receiver, reception and transmission data are used.
9. torpedo hot metal mixer car real-time location method comprises:
1) positioning subsystem carries out real-time positioning to locomotive;
2) command subsystem is sent job instruction information to locomotive;
3) the estimator system receives the information of positioning subsystem and command subsystem, finishes real-time reckoning to the torpedo hot metal mixer car position according to the job instruction information of the locomotive real-time position information of positioning subsystem and command subsystem;
4) the estimator system feeds back to the positioning subsystem demonstration with the real-time reckoning result of torpedo hot metal mixer car position.
10. torpedo hot metal mixer car real-time location method according to claim 9 is characterized in that, described step 3) comprises:
1) torpedo hot metal mixer car position initialization;
2) extract the locomotive locating information;
3) set up locomotive and torpedo hot metal mixer car and " articulate " relational database;
4) monitoring locomotive run location;
5) calculate the position of carrying out torpedo hot metal mixer car according to " articulating/decoupling device " state of locomotive and torpedo hot metal mixer car;
9) refresh torpedo hot metal mixer car and locomotive and " articulate " relation;
10) revise " articulating " data bank by new incidence relation;
11) since the 4th) step circulates successively.
11. torpedo hot metal mixer car real-time location method according to claim 10, it is characterized in that, calculate the position of described torpedo hot metal mixer car: when locomotive and torpedo hot metal mixer car hook, the position of torpedo hot metal mixer car is the correction that corresponding locomotive position adds locomotive overall length, after locomotive and the torpedo hot metal mixer car decoupling device, the position of torpedo hot metal mixer car remains on the decoupling device position, up to locomotive and this torpedo hot metal mixer car are linked up with next time.
12. torpedo hot metal mixer car real-time location method according to claim 10 is characterized in that, described step 5) is:
A) judging whether locomotive arrives can " articulate/decoupling device " point range, monitors if do not arrive then continue, if arrive, then
B) judge whether the special action of " articulating/decoupling device " car, if do not have the special action of " articulating/decoupling device " car then continue described step 4), if the special action of " articulating/decoupling device " car is arranged, then
C) judge and to have or not dependent instruction, if do not have dependent instruction then get back to described 4) step, if dependent instruction is arranged, then
D) carry out " articulating " or " decoupling device ", torpedo hot metal mixer car is handled by the mode of articulating when articulating, and then handle by the decoupling device mode torpedo hot metal mixer car position when decoupling device.
13. torpedo hot metal mixer car real-time location method according to claim 12 is characterized in that, described " articulating/decoupling device " point range is to specify work station point or deposit line.
14. torpedo hot metal mixer car real-time location method according to claim 12 is characterized in that, described " articulating/decoupling device " car special action is meant that locomotive articulates the action of torpedo hot metal mixer car or decoupling device torpedo hot metal mixer car.
15. torpedo hot metal mixer car real-time location method according to claim 12, it is characterized in that, described torpedo hot metal mixer car is handled by the mode of articulating: after judging that locomotive and torpedo hot metal mixer car have articulated, showing on the large-size screen monitors, torpedo hot metal mixer car will move with locomotive, the location information of torpedo hot metal mixer car will be bound with the location information of locomotive, and the location information of torpedo hot metal mixer car is that the dynamic location information of locomotive adds torpedo hot metal mixer car length correction amount.
16. method according to claim 12, it is characterized in that, described torpedo hot metal mixer car is handled by the decoupling device mode: after judging that locomotive and torpedo hot metal mixer car break off relations, the torpedo hot metal mixer car location information is separated with locomotive, showing on the large-size screen monitors, torpedo hot metal mixer car is parked on the work station point of unhook, and the location information of torpedo hot metal mixer car is the location information of corresponding work station point.
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| CN107200044B (en) * | 2017-05-26 | 2019-02-12 | 内蒙古包钢钢联股份有限公司 | A kind of molten iron torpedo pot vehicle localization method |
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| CN111988743A (en) * | 2020-08-19 | 2020-11-24 | 中车长春轨道客车股份有限公司 | Vehicle position information tracking system in motor train unit production process |
| CN112224243B (en) * | 2020-10-16 | 2022-04-01 | 马鞍山钢铁股份有限公司 | Real-time monitoring method for dynamic information of position of torpedo hot metal mixer car |
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