A laser radar-based train positioning method for automated railway container yards

Abstract

The present invention discloses a method for locating trains in an automated railway container yard based on laser radar, including: S1, scanning the side of a train by laser radar; S2, judging whether the position of a train car body is scanned, outputting a "0" signal when judging that the position of a train car body is scanned, and recording the length of a low pulse signal as the length of a single car body; when judging that the position of a train car body is not scanned, the signal "0" is converted to "1", and the length of a high pulse signal is recorded as the length of a hook and the number of cars passing through the laser radar; S3, accumulating the car body length and the hook length; S4, comparing the number of cars passed by each gantry crane laser radar; S5, recording the position of the gantry crane with the least number of cars passing through the laser radar; S6, obtaining the position of the first car body of the train and the positions of other cars, and realizing train positioning. According to the present invention, it has high precision, can work for a long time, has a relatively simple model, and takes into account various equipment.

Description

Technical Field

[0001] The present invention relates to the technical field of train positioning, and in particular to an automated railway container yard train positioning method based on laser radar. Background Art

[0002] In the yard of railway freight transportation, the loading and unloading of wagons after the train enters the yard is usually carried out on rails. Before loading and unloading containers, the first wagon of the train needs to be positioned first, and then all wagons need to be positioned. After positioning is completed, the spreader is moved to the top of the target wagon to load and unload the container.

[0003] Traditional train positioning relies on human eye recognition, which is too dependent on workers, resulting in low loading and unloading efficiency, prone to positioning errors, and difficult to ensure the safety of workers. Summary of the invention

[0004] In view of the shortcomings of the prior art, the purpose of the present invention is to provide an automated railway container yard train positioning method based on laser radar, which has high accuracy, can work for a long time, has a relatively simple model, and takes into account various devices. In order to achieve the above-mentioned purpose and other advantages according to the present invention, an automated railway container yard train positioning method based on laser radar is provided, comprising:

[0005] S1, scan the side of the train through LiDAR;

[0006] S2, by judging whether the train car position is scanned, when it is judged that the train car position is scanned, the "0" signal is output, and the length of the low pulse signal is recorded as the length of a single car; when it is judged that the train car position is not scanned, the signal "0" is changed to "1", and the length of the high pulse signal is recorded as the length of the hook and the number of cars passing through the laser radar;

[0007] S3, accumulating the car body length and the coupler length;

[0008] S4, by comparing the number of train wagons passed by each gantry crane laser radar;

[0009] S5, recording the position of the gantry crane with the least number of train wagons passing through the laser radar;

[0010] S6. Obtain the position of the first carriage of the train and the positions of other carriages to realize train positioning.

[0011] Preferably, in step S2, the laser radar scans perpendicular to the direction of travel of the train as a baseline, and the baseline scans the coupler between two carriages to output a "1" signal, and the baseline scans the train carriage to output a "0" signal. When the signal "0" turns to a "1" signal, a counter is triggered, which is the number of train carriages passing the laser radar.

[0012] Preferably, during the running of the train, when the output signal changes from "0" to "1", the length of a single train car scanned by the laser radar at this time is recorded.

[0013] Preferably, when the output signal changes from "1" to "0", the length of the coupler between the two carriages scanned by the laser radar at this time is recorded.

[0014] Preferably, the length of the train car passing each laser radar includes the length of each car body passing the laser radar, the length of the coupler between each two cars passing the laser radar, and the length of the partial car body or coupler located in front of the gantry crane after the train stops.

[0015] Compared with the prior art, the present invention has the following beneficial effects:

[0016] (1) The structure is simple and the laser radar is used to locate the first train. Compared with human eye recognition, it has the advantages of high accuracy and long working time.

[0017] (2) The model is relatively simple, taking into account various equipment. It uses laser radar to obtain the number of train cars passing through each laser radar, the length of the train cars passing through each laser radar, the length of each car passing through each laser radar, and the length of the hook between every two cars, thereby obtaining the position of each car of the train to achieve the purpose of positioning the train. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a front view of the automated railway container yard train positioning method based on laser radar according to the present invention;

[0019] Figure 2 A top view of the laser radar-based automated railway container yard train positioning method according to the present invention;

[0020] Figure 3 It is a schematic diagram of the principle of the automated railway container yard train positioning method based on laser radar according to the present invention;

[0021] Figure 4 The figure is a flow chart of the laser radar-based automated railway container yard train positioning method according to the present invention. DETAILED DESCRIPTION

[0022] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0023] Reference Figure 1-4 , an automated railway container yard train positioning method based on laser radar, comprising: S1, scanning the side of the train by laser radar;

[0024] S2, by judging whether the train car position is scanned, when it is judged that the train car position is scanned, the "0" signal is output, and the length of the low pulse signal is recorded as the length of a single car; when it is judged that the train car position is not scanned, the signal "0" is changed to "1", and the length of the high pulse signal is recorded as the length of the hook and the number of cars passing through the laser radar;

[0025] S3, accumulating the car body length and the coupler length;

[0026] S4, by comparing the number of train wagons passed by each gantry crane laser radar;

[0027] S5, recording the position of the gantry crane with the least number of train wagons passing through the laser radar;

[0028] S6. Obtain the position of the first carriage of the train and the positions of other carriages to realize train positioning.

[0029] The device for positioning a train in a container yard includes a data acquisition module and a data processing module, wherein the data acquisition module is a laser radar, which is installed on a crossbeam on one side of a gantry crane, and the data processing module is located in the electrical room or electrical cabinet of the gantry crane. The data acquisition module ensures that the sides of the train wagons are within the acquisition range of the laser radar, and is used to collect data on each wagon of the train and the coupler data between two wagons. The data processing module is used to process the data collected by the data acquisition module, and realizes train positioning according to the length of each wagon detected, the number and length of wagons passing through each gantry crane, and the length of the coupler between two wagons. The data processing module obtains the number of train wagons passing through the laser radar, the length of the train wagons passing through the laser radar, the length of each wagon passing through the laser radar, and the length of the coupler between every two wagons from the collected real-time point cloud of the train, and calculates the front and rear positions of the first wagon of the train and the front and wagon positions of the remaining wagons through the relative position of the train and the passing gantry crane.

[0030] Furthermore, in step S2, the laser radar scans perpendicular to the direction of travel of the train as a baseline. When the baseline scans the coupler between the two carriages, a "1" signal is output, and when the baseline scans the train carriage, a "0" signal is output. When the signal "0" turns into a "1" signal, a counter is triggered, which is the number of train carriages passing through the laser radar.

[0031] Furthermore, during the running of the train, when the output signal changes from "0" to "1", the length of the single train car scanned by the laser radar at this time is recorded.

[0032] Furthermore, when the output signal changes from "1" to "0", the length of the coupler between the two carriages scanned by the laser radar at this time is recorded.

[0033] Furthermore, the length of the train car passing each laser radar includes the length of each car body passing the laser radar, the length of the coupler between each two cars passing the laser radar, and the length of the partial car body or coupler located in front of the gantry crane after the train stops.

[0034] The front and rear positions of the first car body of the train and the front and car body positions of the remaining cars are calculated by the relative position of the train and the passing gantry crane, including: each gantry crane on the train track obtains the number of train cars passing the laser radar, the length of the train cars passing the laser radar, the length of each car body passing the laser radar and the length of the hook between every two cars through the above method, among which the data collected by the gantry crane with the least number of train cars passing the laser radar shall prevail, the absolute position of the first car body of the train is calculated by the absolute position of this gantry crane, the length of the car body passing the laser radar on this gantry crane, and the length of each car body passing the laser radar on this gantry crane, and the absolute position of each car body is obtained by the relative position of each car body with the first car body.

[0035] Example 1

[0036] like Figure 3 As shown, in a specific embodiment, a train passes through multiple gantry cranes during travel, and a laser radar installed on each gantry crane scans the side of the train, collects the real-time point cloud of the train from each laser radar of each gantry crane, and obtains the number of train wagons passing each laser radar, the length of the train wagons passing each laser radar, the length of each wagon passing each laser radar, and the length of the hook between every two wagons. The specific implementation steps are as follows:

[0037] S1. Establish a one-dimensional coordinate system OX with the first gantry crane that the train passes as the center and the train travel direction as the X direction;

[0038] Optionally, step S1 includes:

[0039] S11. The train passes through i gantry cranes during its journey. The gantry cranes in the path are numbered according to the order in which the train passes through them, which are G 1 ,...,G i , i = 1, 2, ..., where the absolute position of the gantry crane is obtained by the encoder installed on the gantry crane, and the gantry crane G i The positions on the established OX coordinate axis are x 0 ,...,x i ;

[0040] S2, taking the scanning line of the laser radar perpendicular to the travel direction of the train as the reference line, the reference line outputs a signal "0" when scanning the coupler between the two train wagons, and outputs a signal "1" when scanning the train wagon;

[0041] S2, the output signal changes from "1" to "0" to trigger the counter. During the train running, the gantry crane G i The counter is triggered by m i , get the gantry crane G i The number of train cars of LiDAR C i ;

[0042] Optionally, step S2 includes:

[0043] S21. After the train stops, the status of the train wagon relative to the gantry crane is as follows: the train wagon is directly in front of the laser radar and the hook between two train wagons is directly in front of the laser radar;

[0044] S22, when the train car is in front of the laser radar, it passes through the gantry crane G i The number of train cars C i =m i +1;

[0045] S23, when the hook between the two wagons of the train is directly in front of the laser radar, the gantry crane G i The number of train cars C i =m i ;

[0046] S3. During the train running, when the output signal changes from "0" to "1", the length of a single train car scanned by the laser radar is recorded. The length of a single train car is l 1 ,...,l j , j=1 represents the first car, j represents the jth car body;

[0047] S4. When the output signal changes from "1" to "0" during the train running, record the length d of the coupler between the two carriages scanned by the laser radar at this time. 1 ,...,d n,n=1,...,j-1, n represents the partition between the jth car and the j+1th car;

[0048] S5. Get the data through the gantry crane G i The length of the car skin on the laser radar is L i ;

[0049] S6. Compare the number of train wagons passing through each laser radar of each gantry crane and record minC i = Gantry crane G at c i The position x i , get the position x of the front of the first car of the train i +L i , the position of the rear of the first car is x i +L i -l 1

[0050] S7, the front position of the jth car is: The rear position of the jth car is:

[0051] In summary, the present invention provides a laser radar-based automated railway container yard train positioning device and method, which utilizes laser radar to obtain the number of train cars passing through each laser radar for each gantry crane, the length of the train cars passing through each laser radar, the length of each car body passing through each laser radar, and the length of the coupler between every two cars, thereby obtaining the position of each car body of the train to achieve the purpose of positioning the train.

[0052] The number of devices and processing scales described here are used to simplify the description of the present invention, and the application, modification and variation of the present invention will be obvious to those skilled in the art.

[0053] Although the embodiments of the present invention have been disclosed as above, they are not limited to the applications listed in the specification and implementation modes. They can be fully applied to various fields suitable for the present invention. For those familiar with the art, additional modifications can be easily implemented. Therefore, without departing from the general concept defined by the claims and the scope of equivalents, the present invention is not limited to the specific details and the illustrations shown and described herein.

Claims

1. A laser radar-based automated railway container yard train positioning method, characterized in that: The following steps are involved: S1, scan the side of the train through LiDAR; S2, by judging whether the train car position is scanned, when it is judged that the train car position is scanned, the "0" signal is output, and the length of the low pulse signal is recorded as the length of a single car; when it is judged that the train car position is not scanned, the signal "0" is changed to "1", and the length of the high pulse signal is recorded as the length of the coupler and the number of cars passing through the laser radar; S3, accumulating the car body length and the coupler length; S4, by comparing the number of train wagons passed by each gantry crane laser radar; S5, recording the position of the gantry crane with the least number of train wagons passing through the laser radar; S6. Obtain the position of the first carriage of the train and the positions of other carriages to realize train positioning.

2. The method for locating trains in an automated railway container yard based on laser radar as claimed in claim 1, characterized in that: In step S2, the laser radar scans perpendicular to the direction of train travel as the baseline. When the baseline scans the coupler between two carriages, a "1" signal is output, and when the baseline scans the train carriage, a "0" signal is output. When the signal "0" turns to a "1" signal, a counter is triggered, which is the number of train carriages passing the laser radar.

3. The method for locating trains in an automated railway container yard based on laser radar as claimed in claim 2, characterized in that: During the running of the train, when the output signal changes from "0" to "1", the length of the single train car scanned by the laser radar at this time is recorded.

4. The method for locating trains in an automated railway container yard based on laser radar as claimed in claim 3, characterized in that: When the output signal changes from "1" to "0", the length of the coupler between the two carriages scanned by the laser radar is recorded.

5. The method for locating trains in an automated railway container yard based on laser radar as claimed in claim 1, characterized in that: The length of the train car passing each laser radar includes the length of each car body passing the laser radar, the length of the coupler between each two cars passing the laser radar, and the length of the partial car body or coupler located in front of the gantry crane after the train stops.

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