Tracking and positioning method and system for rail-water intermodal transport vehicle combining gnss and radar ranging
A radar ranging and vehicle tracking technology, which is applied in satellite radio beacon positioning systems, radio wave measurement systems, measurement devices, etc.
Active Publication Date: 2022-04-15
中铁武汉勘察设计院有限公司
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Problems solved by technology
Since the train is composed of a group of multi-section vehicles, there are buffer devices and coupler connection gaps at the vehicle joints. These factors cause a certain error in the length of the vehicle. This error is a function of vehicle traction, propulsion, speed, braking force, acceleration , Weight-related changes, the distance between the rail tractor and the vehicle to be loaded and unloaded and the GNSS measurement data have a large error during the operation of the rail tractor, and the more the number of trains, the greater the error accumulation. These errors Does not meet the requirements for the accuracy of loading and unloading equipment
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[0065] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.
[0066] It should be noted that the process of rail-water combined transport can be briefly described as: a train train is composed of several connected vehicles. During the unloading and loading process, the railway train train is a group of empty cars, and one of the empty cars is parked on the quay bridge spreader. Within the scope of work (for example, the center position error of the spreader is within ±200mm), the designated connection position is waiting ...
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The invention provides a method and system for tracking and positioning vehicles of rail-water intermodal transport combined with GNSS and radar ranging, which are applied in the technical field of tracking and positioning, including: obtaining the distance between the quay bridge and the tractor; obtaining the distance of each vehicle by collecting vehicle information Length data; obtain the second railway line distance corresponding to the center position and the third connection point; obtain the distance difference between the second railway line distance and the first railway line distance, and determine the moving direction and moving distance of the rail tractor , the rail tractor preliminarily adjusts the vehicle position according to the moving direction and moving distance; obtains the vehicle space contour size through the radar ranging system, and starts the rail tractor to drive the vehicle to move according to the vehicle contour space size and error range to precisely adjust the vehicle position. By applying the embodiments of the present invention, the accuracy of vehicle positioning is improved, thereby improving the accuracy of the positioning operation of the quay crane spreader in the rail-water intermodal transport, and improving the operating efficiency.
Description
technical field [0001] The invention relates to the technical field of tracking and positioning of rail-water combined transport vehicles, in particular to a tracking and positioning method and system for rail-water combined transport vehicles combining GNSS and radar ranging. Background technique [0002] Rail-water combined transport is an important development direction of modern logistics development. Container rail-water combined transport is an important part of rail-water combined transport. By placing containers in vehicles, containers are used as transport units to improve transport efficiency. [0003] In the prior art, for example, the patent title is container position detection method and device for loading and unloading cranes, and container landing and detection control method, by processing the image of the object container obtained from the camera device such as CCD installed on the spreader data to realize the relative position detection between the object ...
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IPC IPC(8): G01S19/42G01S13/08G01S13/89G01B7/28
CPCG01S19/42G01S13/08G01S13/89G01B7/28
Inventor 马晓晨肖宇松宾松方亚非李瑞顾闻王增力黄泽星张佳楠蔡家军卢刚刘少健汪洋成威戴慧雯
Owner 中铁武汉勘察设计院有限公司