A control method and system for an electrical switch cabinet in-place intelligent vehicle

Abstract

The present invention discloses a control method for an intelligent vehicle for placing an electrical switch cabinet, comprising: S1, establishing a three-dimensional data model of the placement space of the electrical switch cabinet, and setting the final position of the electrical switch cabinet; S2, positioning the real-time position of the intelligent vehicle and determining the direction of the intelligent vehicle, and setting the fixed side of the intelligent vehicle and the electrical switch cabinet as the front side; S3, positioning the real-time position of the electrical switch cabinet and determining the direction of the switch cabinet, and setting the side of the electrical switch cabinet with a cabinet door as the front side; S4, the intelligent vehicle moves the electrical switch cabinet from the initial position to the set final position. The present invention positions the front and rear sides of the intelligent vehicle respectively, and the front and rear sides of the electrical switch cabinet respectively at the same time, and determines the direction and position of the intelligent vehicle for transporting the electrical switch cabinet according to the difference in the positioning of the front and rear sides, so as to ensure that after the electrical switch cabinet reaches the final position, the orientation of its use side, i.e., the front side, can be convenient for the user to operate.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle control, and in particular to a control method and system for an intelligent vehicle with an electrical switch cabinet in place. Background Art

[0002] Automatic guided vehicle, or AGV for short, refers to a transport vehicle equipped with an electromagnetic or optical automatic guidance device, capable of traveling along a prescribed guidance path, and having safety protection and various transfer functions. AGV is a battery-powered, non-contact guidance device-equipped unmanned vehicle. Its main function is to accurately travel and dock at a designated location under computer monitoring, according to path planning and operation requirements, and complete a series of operation functions. The AGV can run automatically and requires a guidance device. Common guidance methods are divided into two categories: off-vehicle predetermined path and non-predetermined path. Among them, the off-vehicle predetermined path guidance method refers to a guidance method in which an information medium for guidance is set on the driving path, and the AGV is guided by detecting the information of the information medium, such as electromagnetic guidance, ribbon guidance, magnetic tape guidance, etc.; the non-predetermined path guidance method refers to the AGV car having no fixed path during operation. The commonly used laser guidance method can try to grasp the position during operation and independently determine the guidance method of the driving path.

[0003] "A VGA unmanned automatic driving control method and system" disclosed in Chinese patent documents, with publication number CN113419536A and publication date 2021-09-21, step 1: send a delivery task to the target unmanned equipment. When the task operation requires feeding, assign a target control device, and based on the target control device, retrieve the standby goods from the target warehouse and place them on the target unmanned equipment; step 2: control the target unmanned equipment that receives the standby goods to operate according to the preset trajectory; step 3: record the operation log of the target unmanned equipment during operation, determine whether there is an emergency event, and if so, based on the data interface, cyclically detect the preset database, update the control information, and obtain the remote control instructions related to the emergency event; step 4: according to the remote control instruction, control the emergency device to perform relevant operations to realize emergency control of the target unmanned equipment. It is convenient to ensure the safety of the target unmanned equipment. However, the goods transported in this technology do not have directionality, and there is no need to consider the orientation of the goods. However, when it comes to objects with different faces such as mobile furniture and electrical switch cabinets, there are also requirements for the orientation of the transported objects and the direction of the final placement. Summary of the invention

[0004] The present invention aims to overcome the problem in the prior art that unmanned intelligent vehicles cannot identify and transport the direction and different surfaces of goods when transporting goods. A control method and system for an intelligent vehicle in position for an electrical switch cabinet is provided, which can position the front and rear sides of the intelligent vehicle respectively, and the front and rear sides of the electrical switch cabinet respectively at the same time. The direction and position of the electrical switch cabinet transported by the intelligent vehicle are determined based on the difference in the positioning of the front and rear sides, ensuring that after the electrical switch cabinet reaches the final position, the orientation of its use side, i.e., the front side, can be convenient for the user to operate.

[0005] In order to achieve the above object, the present invention adopts the following technical solutions:

[0006] A control method for an electrical switch cabinet in-place smart car, comprising:

[0007] S1. Establish a three-dimensional data model of the electrical switch cabinet placement space and set the final position of the electrical switch cabinet;

[0008] S2, locate the real-time position of the smart car and determine the direction of the smart car, and set the side where the smart car and the electrical switch cabinet are fixed as the front side;

[0009] S3, locating the real-time position of the electrical switch cabinet and determining the direction of the switch cabinet, and setting the side of the electrical switch cabinet with the cabinet door as the front side;

[0010] S4. The smart car moves the electrical switch cabinet from the initial position to the set final position.

[0011] In the present invention, a three-dimensional data model of the electrical switch cabinet placement space is established, and the real-time position and direction of the smart car and the electrical switch cabinet are displayed in the three-dimensional data model. Combined with the final position of the electrical switch cabinet set in the model, the moving path and moving process of the smart car and the electrical switch cabinet can be displayed very intuitively. At the same time, the moving direction and speed of the smart car can also be controlled according to the real-time position, so that the smart car can accurately approach and fix the electrical switch cabinet from the set direction, and move the electrical switch cabinet to the final position. The error of the entire moving process is only limited by the positioning error, so the accuracy of transporting the mobile electrical switch cabinet is high.

[0012] Preferably, the final position Ai of the electrical switch cabinet in the three-dimensional data model in S1 corresponds to the final placement position of the i-th electrical switch cabinet in the actual space, and the range of the electrical switch cabinet is represented by the coordinates of all vertices of Ai.

[0013] In the present invention, if n electrical switch cabinets actually need to be placed, then n final positions A1 to An need to be set in the three-dimensional data model. At the same time, each final position Ai represents the range of the final position of the i-th electrical switch cabinet by the vertex coordinates of the range occupied by its horizontal plane in the three-dimensional data model. The real-time positions of the vertices of the electrical switch cabinet are matched with the vertex coordinates of the final position to determine whether the electrical switch cabinet has reached the specified position.

[0014] Preferably, S2 includes the following steps:

[0015] S21. Setting positioning base stations at several corners of the top of the space where the electrical switch cabinet is placed;

[0016] S22, the front-end positioning device arranged at the front side of the smart car communicates and positions with the positioning base station;

[0017] S23, the rear-end positioning device arranged at the rear side of the smart car communicates and positions with the positioning base station;

[0018] S24. Obtain the real-time position and direction of the smart car according to the positioning data of S22 and S23.

[0019] In the present invention, the positioning base stations are arranged at various corners of the top of the space where the electrical switch cabinet is placed, and their horizontal positions are different, and their vertical positions can be the same or different. The front-end positioning device and the rear-end positioning device of the smart car determine the positions of the front-end positioning device and the rear-end positioning device by the difference in the time taken to send positioning signals to each positioning base station, and at the same time, the direction from the position of the rear-end positioning device to the position of the front-end positioning device is the direction facing the front side of the smart car.

[0020] Preferably, S3 includes the following steps:

[0021] S31. Setting positioning base stations at several corners of the top of the space where the electrical switch cabinet is placed;

[0022] S32, a plurality of front-end positioning devices arranged at the front side of the electrical switch cabinet communicate and locate with the positioning base station;

[0023] S33, a plurality of rear-end positioning devices arranged at the rear side of the electrical switch cabinet communicate and locate with the positioning base station;

[0024] S34. Obtain the real-time position of the electrical switch cabinet and the direction of the smart car according to the positioning data of S32 and S33.

[0025] In the present invention, the several front-end positioning devices and the several rear-end positioning devices of the electrical switch cabinet send different positioning signals to each positioning base station, and determine the position of each front-end positioning device or the position of the rear-end positioning device according to the difference in the time taken for each signal to reach the positioning base station. At the same time, the direction from the position of the rear-end positioning device to the position of the front-end positioning device located on the same side of the electrical switch cabinet is the direction facing the front side of the electrical switch cabinet.

[0026] Preferably, the communication positioning method includes: determining the location data of the positioning base station; synchronizing the time of each positioning base station; calculating the time difference between the signal emitted by the positioning device and propagating to any two positioning base stations; calculating the distance difference from the positioning device to any two positioning base stations based on the time difference; and calculating the position of the positioning device based on the distance difference between the positioning device and different positioning base stations.

[0027] The present invention adopts the TDOA positioning principle, and uses measurement to obtain the time difference of the signal propagation between the positioning device and two different positioning base stations, thereby obtaining the distance difference between the positioning device and the two different positioning base stations. When the positioning device is stationary, the distance difference is a constant, and the position of the positioning device must be on the curved surface between the two positioning base stations, and the distance difference from any point on the curved surface to the two base stations is the same. When there are four positioning base stations, four different curved surfaces can be obtained, and the point where these curved surfaces intersect is the spatial position of the positioning tag.

[0028] Preferably, when the smart car approaches the electrical switch cabinet in S4, the front side of the smart car and the front side of the electrical switch cabinet face each other and approach each other; when the real-time position of the electrical switch cabinet coincides with the final position Ai in the three-dimensional data model, the electrical switch cabinet reaches the specified position.

[0029] In the present invention, the front side of the smart car and the front side of the electrical switch cabinet are facing each other and approaching each other, so that the smart car and the electrical switch cabinet are fixed and the electrical switch cabinet is moved. In this way, when the electrical switch cabinet moves to the designated final position, the smart car will detach from the electrical switch cabinet and will back up in the direction of the front side of the electrical switch cabinet and then leave. Therefore, it is inevitable that a large space can be ensured in front of the front side of the electrical switch cabinet to facilitate the staff to operate and use the electrical switch cabinet.

[0030] A control system for an electrical switch cabinet in-place smart car, comprising:

[0031] A control center, used for communicating with other parts in the control system and controlling the operation of the system;

[0032] The positioning module includes a front-end positioning device, a back-end positioning device and a positioning base station, which is used to determine the real-time position of the smart car and the electrical switch cabinet;

[0033] Smart car, which communicates with the control center and is used to move electrical switchgear.

[0034] The control center in the present invention is the key to the entire smart car control system. The control center can intuitively display the three-dimensional data model of the electrical switch cabinet placement space, and at the same time display the position and movement information of each smart car and electrical switch cabinet in the placement space. The control center and the smart car and the positioning device and the positioning base station can communicate in two directions, synchronize the time of the positioning base station, receive the movement data from the smart car, the positioning signal data of the positioning device and the positioning signal time data collected by the positioning base station, so as to analyze and process the position and movement data of each object in the placement space and reflect them in the three-dimensional data model, which is convenient for controlling the work of the smart car and the observation of the staff.

[0035] Preferably, a front end positioning device is arranged at the middle position of the front side of the smart car, and a rear end positioning device is arranged at the middle position of the rear side of the smart car; a front end positioning device is arranged at the two vertices at the top of the front side of the electrical switch cabinet, and a rear end positioning device is arranged at the two vertices at the top of the rear side of the electrical switch cabinet.

[0036] In the present invention, a front-end positioning device is arranged at the middle position of the front side of the smart car, and a rear-end positioning device is arranged at the middle position of the rear side. The connection line of the front and rear positioning devices can indicate the real-time position of the smart car, and can also display the direction of the smart car. The top surface of the electrical switch cabinet is generally rectangular, and the front-end positioning devices are arranged at the two vertices of the top of the front side, and the rear-end positioning devices are arranged at the two vertices of the top of the rear side. The real-time position range of the electrical switch cabinet can be determined by positioning these four positioning devices.

[0037] The present invention has the following beneficial effects: by positioning the front and rear sides of the smart car respectively, and the front and rear sides of the electrical switch cabinet respectively at the same time, the direction and position of the electrical switch cabinet carried by the smart car are determined according to the difference in the positioning of the front and rear sides, ensuring that after the electrical switch cabinet reaches the final position, the orientation of its use side, i.e., the front side, can be convenient for users to operate. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 is a flow chart of the control method of the present invention;

[0039] Figure 2 is a top view of a space for placing an electrical switch cabinet in an embodiment of the present invention;

[0040] Figure 3 is a schematic diagram of a smart vehicle approaching an electrical switch cabinet before moving the electrical switch cabinet in an embodiment of the present invention;

[0041] Figure 4 is a schematic diagram of a positioning calculation method of a positioning device in an embodiment of the present invention;

[0042] In the figure: 1. Smart car; 2. Electrical switch cabinet; 31. Front-end positioning device; 32. Back-end positioning device; 33. Positioning base station. DETAILED DESCRIPTION

[0043] The present invention will be further described below in conjunction with the accompanying drawings and specific implementations.

[0044] like Figure 1 As shown, a control method for an electrical switch cabinet in-place smart car includes:

[0045] S1. Establish a three-dimensional data model of the electrical switch cabinet placement space, and set the final position range of the electrical switch cabinet in the three-dimensional data model; the final position Ai of the electrical switch cabinet in the three-dimensional data model corresponds to the final placement position of the i-th electrical switch cabinet in the actual placement space, and the coordinates of all vertices of the final position Ai can represent the horizontal occupation range of the final position of the i-th electrical switch cabinet in the three-dimensional data model.

[0046] S2, while locating the real-time position of the smart car, determining the direction of the smart car, setting the side of the smart car used to fix the electrical switch cabinet as the front side, and the side opposite to the front side as the rear side; S2 includes the following steps:

[0047] S21. Setting positioning base stations at several corners of the top of the space where the electrical switch cabinet is placed;

[0048] S22, the front-end positioning device arranged at the front side of the smart car communicates and positions with the positioning base station;

[0049] S23, the rear-end positioning device arranged at the rear side of the smart car communicates and positions with the positioning base station;

[0050] S24. Obtain the real-time position and direction of the smart car according to the positioning data of S22 and S23.

[0051] S3, locating the real-time position of the electrical switch cabinet and determining the direction of the switch cabinet, setting the side of the electrical switch cabinet whose door needs to be opened as the front side, and the side opposite to the front side as the rear side; S3 includes the following steps:

[0052] S31. Setting positioning base stations at several corners of the top of the space where the electrical switch cabinet is placed;

[0053] S32, a plurality of front-end positioning devices arranged at the front side of the electrical switch cabinet communicate and locate with the positioning base station;

[0054] S33, a plurality of rear-end positioning devices arranged at the rear side of the electrical switch cabinet communicate and locate with the positioning base station;

[0055] S34. Obtain the real-time position of the electrical switch cabinet and the direction of the smart car according to the positioning data of S32 and S33.

[0056] S4. The smart car moves the electrical switch cabinet from the initial position to the set final position; when the smart car approaches the electrical switch cabinet, the front side of the smart car and the front side of the electrical switch cabinet are facing each other and approaching each other, and the front sides of the two are parallel to each other; when the real-time position of the electrical switch cabinet coincides with the final position Ai in the three-dimensional data model, that is, when the coordinate positions of the front-end positioning device and the rear-end positioning device of the electrical switch cabinet coincide with the coordinate positions of each vertex of the final position Ai, the electrical switch cabinet reaches the specified position.

[0057] The communication positioning method includes: determining the location data of a positioning base station; synchronizing the time of each positioning base station; calculating the time difference between a signal sent by a positioning device and propagating to any two positioning base stations; calculating the distance difference between the positioning device and any two positioning base stations based on the time difference; and calculating the position of the positioning device based on the distance difference between the positioning device and different positioning base stations.

[0058] In the present invention, a three-dimensional data model of the electrical switch cabinet placement space is established, and the real-time position and direction of the smart car and the electrical switch cabinet are displayed in the three-dimensional data model. Combined with the final position of the electrical switch cabinet set in the model, the moving path and moving process of the smart car and the electrical switch cabinet can be displayed very intuitively. At the same time, the moving direction and speed of the smart car can also be controlled according to the real-time position, so that the smart car can accurately approach and fix the electrical switch cabinet from the set direction, and move the electrical switch cabinet to the final position. The error of the entire moving process is only limited by the positioning error, so the accuracy of transporting the mobile electrical switch cabinet is high.

[0059] In the present invention, if n electrical switch cabinets actually need to be placed, then n final positions A1 to An need to be set in the three-dimensional data model. At the same time, each final position Ai represents the range of the final position of the i-th electrical switch cabinet by the vertex coordinates of the range occupied by its horizontal plane in the three-dimensional data model. The real-time positions of the vertices of the electrical switch cabinet are matched with the vertex coordinates of the final position to determine whether the electrical switch cabinet has reached the specified position.

[0060] In the present invention, the positioning base stations are arranged at various corners of the top of the space where the electrical switch cabinet is placed, and their horizontal positions are different, and their vertical positions can be the same or different. The front-end positioning device and the rear-end positioning device of the smart car determine the positions of the front-end positioning device and the rear-end positioning device by the difference in the time taken to send positioning signals to each positioning base station, and at the same time, the direction from the position of the rear-end positioning device to the position of the front-end positioning device is the direction facing the front side of the smart car.

[0061] In the present invention, the several front-end positioning devices and the several rear-end positioning devices of the electrical switch cabinet send different positioning signals to each positioning base station, and determine the position of each front-end positioning device or the position of the rear-end positioning device according to the difference in the time taken for each signal to reach the positioning base station. At the same time, the direction from the position of the rear-end positioning device to the position of the front-end positioning device located on the same side of the electrical switch cabinet is the direction facing the front side of the electrical switch cabinet.

[0062] The present invention adopts the TDOA positioning principle, and uses measurement to obtain the time difference of the signal propagation between the positioning device and two different positioning base stations, thereby obtaining the distance difference between the positioning device and the two different positioning base stations. When the positioning device is stationary, the distance difference is a constant, and the position of the positioning device must be on the curved surface between the two positioning base stations, and the distance difference from any point on the curved surface to the two base stations is the same. When there are four positioning base stations, four different curved surfaces can be obtained, and the point where these curved surfaces intersect is the spatial position of the positioning tag.

[0063] In the present invention, the front side of the smart car and the front side of the electrical switch cabinet are facing each other and approaching each other, so that the smart car and the electrical switch cabinet are fixed and the electrical switch cabinet is moved. In this way, when the electrical switch cabinet moves to the designated final position, the smart car will detach from the electrical switch cabinet and will back up in the direction of the front side of the electrical switch cabinet and then leave. Therefore, it is inevitable that a large space can be ensured in front of the front side of the electrical switch cabinet to facilitate the staff to operate and use the electrical switch cabinet.

[0064] A control system for an intelligent vehicle for positioning an electrical switch cabinet includes: a positioning module for determining the real-time position and direction of the intelligent vehicle and the electrical switch cabinet, the positioning module including a front-end positioning device, a rear-end positioning device and a positioning base station; an intelligent vehicle for moving the electrical switch cabinet; and a control center for communicating with the intelligent vehicle and the front-end positioning device, the rear-end positioning device and the positioning base station in the positioning module.

[0065] The front end positioning device of the smart car is set at the middle position of the front side of the smart car, which can be the center of the top of the front side; the rear end positioning device of the smart car is set at the middle position of the rear side of the smart car, which can be the center of the top of the rear side; the front end positioning device of the electrical switch cabinet is set at the two vertices of the top of the front side of the electrical switch cabinet, and the rear end positioning device of the electrical switch cabinet is set at the two vertices of the top of the rear side of the electrical switch cabinet.

[0066] The control center in the present invention is the key to the entire smart car control system. The control center can intuitively display the three-dimensional data model of the electrical switch cabinet placement space, and at the same time implement the display of the position and movement information of each smart car and electrical switch cabinet in the placement space. The control center and the smart car and the positioning device and the positioning base station can communicate in two directions, and can synchronize the time of the positioning base station, receive the movement data from the smart car, the positioning signal data of the positioning device and the positioning signal time data collected by the positioning base station, so as to analyze and process the position and movement data of each object in the placement space and implement the reaction in the three-dimensional data model, which is convenient for controlling the work of the smart car and the observation of the staff. At the same time, the control center can control multiple smart cars to carry out the transportation and movement work at the same time. If there are multiple electrical switch cabinet placement spaces, different numbers of electrical switch cabinets need to be placed in each space, and there is a smart car in each space, then the control center can control each smart car and move the electrical switch cabinet to the specified final position in each space.

[0067] In the present invention, a front-end positioning device is arranged at the middle position of the front side of the smart car, and a rear-end positioning device is arranged at the middle position of the rear side. The connection line of the front and rear positioning devices can indicate the real-time position of the smart car, and can also display the direction of the smart car. The top surface of the electrical switch cabinet is generally rectangular, and the front-end positioning devices are arranged at the two vertices of the top of the front side, and the rear-end positioning devices are arranged at the two vertices of the top of the rear side. The real-time position range of the electrical switch cabinet can be determined by positioning these four positioning devices.

[0068] In the embodiment of the present invention, the electrical switch cabinets need to be placed in the designated positions indoors in sequence, and the specific placement positions are designed and arranged by the staff according to the actual use requirements. Therefore, before the smart car starts to automatically move the electrical switch cabinets, the information of each electrical switch cabinet and its corresponding final position needs to be sent to the smart car, so that the electrical switch cabinets can finally reach the appropriate position.

[0069] First, collect images and data of the indoor space where the electrical switch cabinet is to be placed, and transmit them to the back-end control center to form a three-dimensional data model of the indoor space. According to the final location where the electrical switch cabinet needs to be placed in the actual space, mark the corresponding position in the three-dimensional data model, such as Figure 2 As shown in the figure, Ai represents the electrical switch cabinet at the corresponding position in the three-dimensional data model, where n represents the total number of electrical switch cabinets, and the dotted rectangular box is the area occupied by each electrical switch cabinet in the three-dimensional data model, with the coordinates of the four vertices of the rectangle (x i1 ,y i1 ),(x i1 ,y i2 ),(x i2 ,y i1 ),(x i2 ,yi2 ) as a range limit, you can use To represent its position coordinates, the first row (x i1 ,y i1 ),(x i1 ,y i2 ) indicates the final position of the rear side of the electrical switch cabinet, that is, the two vertices on the side without the cabinet door, which are set as the virtual rear side. The x i2 ,y i1 ),(x i2 ,y i2 ) indicates that the front side of the final position electrical switch cabinet, that is, the two vertices on the side with the cabinet door, is set as the virtual front side. At this point, the step of determining the final position of the switch cabinet before the intelligent vehicle moves the electrical switch cabinet is completed.

[0070] Then the real-time position of the smart car and the electrical switch cabinet in the space is located, such as Figure 2 As shown, in this embodiment, the side of the smart car that contacts the electrical switch cabinet is the front side, and the front end positioning device F0 is installed in the middle position of the front side. The side opposite to the front side is the rear side, and the rear end positioning device B0 is installed in the middle position of the rear side. At the same time, the electrical switch cabinet also has front and back. The side of the electrical switch cabinet with a cabinet door is the front side, and the side without a cabinet door is the rear side. The front end positioning device F0 is placed at the two vertices at the top of the front side of the i-th electrical switch cabinet. i1 and F i2 ; Place the rear positioning device B at the two vertices at the top of the rear side of the i-th electrical switch cabinet i1 and B i2 , positioning base stations S1 to S4 are installed at the top four corners of the space, respectively, for the front positioning device F0 and the rear positioning device B0 of the smart car and the front positioning device F0 of the i-th electrical switch cabinet i1 and F i2 and rear end positioning device B i1 and B i2 The position calculation method within the 3D data model is the same.

[0071] like Figure 4 As shown, any positioning device is selected as an example to calculate the spatial position in the three-dimensional data model. Since the height is not a necessary factor in this embodiment, the calculated spatial position can only select the horizontal position coordinate. The coordinates of the positioning device in the three-dimensional space are (x i ,y i , z i), the positioning device sends positioning signals to the surroundings, and the four positioning base stations set at the four corners of the top of the space receive the positioning signals. The time calculation parts of all positioning base stations are synchronized, thereby avoiding the time difference error caused by the asynchronous time of each positioning base station. The coordinates of the four positioning base stations in the figure are (x1, y1, z1), (x2, y2, z2), (x3, y3, z3) and (x4, y4, z4), respectively. Their horizontal positions are different, and their heights can be the same or different. The distances from the positioning device to the four positioning base stations are r i1 、r i2 、r i3 and r i4 , from which we can get the values ​​of the four distance differences d 12 =|r i1 -r i2 |、d 23 =|r i2 -r i3 |、d 34 =|r i3 -r i4 | and d 41 =|r i4 -r i1 |, thus we can get the equation group to calculate the specific spatial coordinates of the positioning device. Since the four distance differences can be used to get specific values ​​according to the time difference in actual testing, we only need to solve the three-dimensional coordinates of the positioning tag. The equation group is as follows:

[0072]

[0073] In the above equations, only three equations need to be selected to calculate the actual coordinates of the positioning device, and then the calculated coordinates of the positioning device are brought into the fourth equation for verification. If they meet the requirements, it means that the coordinates of the positioning device are correct. At this time, the data of the spatial coordinates in the height direction are ignored, and the real-time horizontal coordinates (x i ,y i ).

[0074] In this embodiment, the front-end positioning device F0 and the rear-end positioning device B0 of the smart car send different positioning signals to the four positioning base stations. The front-end positioning device F0 sends a front-end signal, and the rear-end positioning device B0 sends a rear-end signal. Therefore, the real-time position F0(t)=(x f0t ,y f0t ) and the real-time position of the rear-end positioning device B0(t)=(x b0t ,y b0t ), connect the positions of the two to form a position vector Its direction is the direction of the front side of the smart car. i1 and F i2 Different front-end signals are sent to four positioning base stations respectively, and the back-end positioning device B i1 and B i2 Different back-end signals are sent to the four positioning base stations respectively, so that the real-time positions of the four positioning devices of the i-th electrical switch cabinet can be obtained according to the above positioning calculation method, among which the front-end positioning device F i1 Real-time location of F i1 (t) = (x fi1t ,y fi1t ), front end positioning device F i2 Real-time location F i2 (t) = (x fi2t ,y fi2t ), rear end positioning device B i1 Real-time location of B i1 (t) = (x bi1t ,y bi1t ), rear end positioning device B i2 Real-time location B i2 (t) = x bi2t ,y bi2t ); thus two sets of position vectors can be formed and The directions of the two vectors are the same, both representing the direction in which the front side of the i-th electrical switch cabinet is facing.

[0075] After completing the real-time positioning and direction determination of the smart car and the electrical switch cabinet, the smart car starts to move toward the electrical switch cabinet and moves the electrical switch cabinet to the corresponding position marked in the three-dimensional data model. We take the smart car and the i-th electrical switch cabinet as an example to describe the entire movement process. During the process of the smart car moving toward the i-th electrical switch cabinet, the position of the smart car and the position vector are displayed in real time in the three-dimensional data model. For the i-th electrical switchgear, since it is initially stationary, its position and position vector and It is also fixed. Figure 3 As shown in the figure, only when the front side of the smart car and the front side of the i-th electrical switch cabinet are facing each other, the smart car can fix the i-th electrical switch cabinet and move. Therefore, during the movement of the smart car, the control center needs to compare the position of the smart car and the position of the i-th electrical switch cabinet in real time, as well as the position vector of the smart car. and the position vector of the i-th electrical switchgear and The smart car gradually approaches the i-th electrical switch cabinet from the direction facing the front side of the i-th electrical switch cabinet along the opposite direction of the position vector of the i-th electrical switch cabinet, while continuously adjusting the position vector of the smart car Make The direction is exactly the same as or , where the position vector and After the direction adjustment is completed, the horizontal position of the smart car is adjusted so that and On the same straight line and in opposite directions, the middle position of the front side of the smart car and the middle position of the front side of the i-th electrical switch cabinet are just opposite, and the smart car gradually approaches the i-th electrical switch cabinet and is fixed.

[0076] After the smart car and the i-th electrical switch cabinet are fixed, the smart car moves forward with the i-th electrical switch cabinet to the position of Ai in the three-dimensional data model. During the moving process, the smart car and the i-th electrical switch cabinet first need to adjust their real-time horizontal positions to the position close to the virtual front side of Ai in the three-dimensional data model, such as Figure 2 The final position Ai of the electrical switch cabinet and the relative position of the smart car are shown in FIG. Then the smart car and the ith electrical switch cabinet gradually approach the final position Ai. During the approach, the real-time position and position vector of the ith electrical switch cabinet are adjusted. and So that the position vector The reverse extension line passes through (x i1 ,y i1 ) and (x i1 ,y i2 ) two points, so that the position vector The reverse extension line passes through (x i2 ,y i1 ) and (x i2 ,y i2 ) two points, then the smart car and the i-th electrical switch cabinet move along the position vector The direction or position vector and The front end positioning device F of the i-th electrical switch cabinet in the three-dimensional data model moves in the opposite direction to the final position Ai. i1 Real-time location of F i1 (t) = (x fi1t ,y fi1t ) and the final position Ai's (x i2 ,y i1 ) overlap, front end positioning device F i2 Real-time location F i2 (t) = (x fi2t,y fi2t ) and the final position Ai's (x i2 ,y i2 ) overlap, rear end positioning device B i1 Real-time location of B i1 (t) = (x bi1t ,y bi1t ) and the final position Ai's (x i1 ,y i1 ) overlap, rear end positioning device B i2 Real-time location B i2 (t) = (x bi2t ,y bi2t ) and the final position Ai's (x i2 ,y i1 ) coincide with each other; it indicates that the ith electrical switch cabinet has reached the preset designated final position Ai, at which time the smart car separates from the ith electrical switch cabinet, and at the same time the smart car moves again toward the remaining electrical switch cabinets that need to be moved, and starts the other electrical switch cabinets to the designated positions, and the specific movement and approach method is the same as that of the smart car and the ith electrical switch cabinet.

[0077] During the entire movement of the smart car and the electrical switch cabinet in the present embodiment, the smart car, the front-end positioning device and the rear-end positioning device installed on the smart car, the front-end positioning device and the rear-end positioning device installed on the electrical switch cabinet, and the positioning base stations installed at the four top corners of the space all communicate with the control center, and the data confidence is fed back to the control center, which processes the data to obtain the real-time position and position vector of the smart car, the real-time position and position vector of the electrical switch cabinet, and the relative position of the real-time position of the smart car and the electrical switch cabinet and the final position of the electrical switch cabinet, and reflects them in the three-dimensional data model. The control center sends a control signal to the smart car according to the real-time position of the smart car, the real-time position of the electrical switch cabinet, and the final position of the electrical switch cabinet to control the movement of the smart car.

[0078] The above embodiments are further elaborations and illustrations of the present invention for ease of understanding, and are not limitations of the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A control method for an electrical switch cabinet in-place smart car, characterized in that: include: S1. Establish a three-dimensional data model of the electrical switch cabinet placement space, and set the final position Ai of the electrical switch cabinet, Ai corresponds to the final placement position of the i-th electrical switch cabinet in the actual space, and the coordinates of all vertices of Ai represent the range of the electrical switch cabinet; S2, locate the real-time position of the smart car and determine the direction of the smart car, and set the side where the smart car and the electrical switch cabinet are fixed as the front side; S3, locating the real-time position of the electrical switch cabinet and determining the direction of the switch cabinet, and setting the side of the electrical switch cabinet with the cabinet door as the front side; S4, the intelligent vehicle moves the electrical switch cabinet from the initial position to the set final position; The front side of the smart car and the front side of the electrical switch cabinet are facing each other and close to each other, and the front sides of the two are parallel to each other; Adjust the middle position of the front side of the smart car and the middle position of the front side of the electrical switch cabinet so that they are exactly opposite to each other, and the smart car is close to the electrical switch cabinet and fixed; The smart car and the electrical switch cabinet adjust their positions to the space close to the virtual front side of Ai; Adjust the position of the electrical switch cabinet so that the extended line of the left side of the electrical switch cabinet coincides with the virtual left side of Ai, and the extended line of the right side of the electrical switch cabinet coincides with the virtual right side of Ai; Get closer to Ai until the vertex position of the electrical switch cabinet coincides with the vertex position of Ai.

2. The control method of the electrical switch cabinet in-place smart car according to claim 1 is characterized in that: The S2 includes the following steps: S21. Setting positioning base stations at several corners of the top of the space where the electrical switch cabinet is placed; S22, the front-end positioning device arranged at the front side of the smart car communicates and positions with the positioning base station; S23, the rear-end positioning device arranged at the rear side of the smart car communicates and positions with the positioning base station; S24. Obtain the real-time position and direction of the smart car according to the positioning data of S22 and S23.

3. The control method of the electrical switch cabinet in-place smart car according to claim 2 is characterized in that: The S3 includes the following steps: S31. Setting positioning base stations at several corners of the top of the space where the electrical switch cabinet is placed; S32, a plurality of front-end positioning devices arranged at the front side of the electrical switch cabinet communicate and locate with the positioning base station; S33, a plurality of rear-end positioning devices arranged at the rear side of the electrical switch cabinet communicate and locate with the positioning base station; S34. Obtain the real-time position of the electrical switch cabinet and the direction of the smart car according to the positioning data of S32 and S33.

4. A control method for an electrical switch cabinet in-place smart car according to claim 1, 2 or 3, characterized in that: The communication positioning method includes: determining the location data of a positioning base station; synchronizing the time of each positioning base station; calculating the time difference between a signal sent by a positioning device and propagating to any two positioning base stations; calculating the distance difference between the positioning device and any two positioning base stations based on the time difference; and calculating the position of the positioning device based on the distance difference between the positioning device and different positioning base stations.

5. The control method of the electrical switch cabinet in-place smart car according to claim 4 is characterized in that: When the smart car approaches the electrical switch cabinet in S4, the front side of the smart car and the front side of the electrical switch cabinet face each other and approach each other; when the real-time position of the electrical switch cabinet coincides with the final position Ai in the three-dimensional data model, the electrical switch cabinet reaches the specified position.

6. A control system for an electrical switch cabinet in-place smart car, applicable to a control method for an electrical switch cabinet in-place smart car as claimed in any one of claims 1 to 5, characterized in that: include: A control center, used for communicating with other parts in the control system and controlling the operation of the system; The positioning module includes a front-end positioning device, a back-end positioning device and a positioning base station, which is used to determine the real-time position of the smart car and the electrical switch cabinet; Smart car, which communicates with the control center and is used to move electrical switchgear.

7. The control system of the electrical switch cabinet in place intelligent vehicle according to claim 6 is characterized in that: A front end positioning device is arranged at the middle position of the front side of the smart car, and a rear end positioning device is arranged at the middle position of the rear side of the smart car; a front end positioning device is arranged at the two vertices of the top of the front side of the electrical switch cabinet, and a rear end positioning device is arranged at the two vertices of the top of the rear side of the electrical switch cabinet.

Images