Method and system for regulating a heavy-duty pantograph
By intelligently adjusting the pantograph's lifting and lateral displacement, the problem of unstable contact between the pantograph and the overhead contact line in heavy trucks has been solved, ensuring stable operation of the pantograph, reducing arcing and hardware damage, and lowering the difficulty of operation for drivers.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- CRRC QINGDAO SIFANG ROLLING STOCK RESEARCH INSTITUTE CO LTD
- Filing Date
- 2023-03-16
- Publication Date
- 2026-06-09
AI Technical Summary
When heavy trucks are driving on the highway, the contact between the pantograph and the overhead contact line is unstable, which leads to frequent arcing, damage to hardware facilities, and makes it difficult for drivers to deal with emergencies in a timely manner.
By monitoring the air pump pressure, carbon strip thickness, and contact wire position in real time through the pantograph controller, the pantograph's lifting and lateral displacement are intelligently adjusted, including emergency pantograph lowering control, to reduce accidents and prevent hardware damage.
Stable control of the pantograph has been achieved, reducing the occurrence of accidents during driving, lowering the risk of hardware damage, and alleviating the workload of the driver.
Smart Images
Figure CN116278776B_ABST
Abstract
Description
Technical Field
[0001] This application belongs to the field of rail transit technology, and in particular relates to an adjustment method and system for a pantograph of a heavy truck. Background Technology
[0002] With the increasing severity of urban environmental pollution and energy shortages, energy conservation and emission reduction have become the main goals of automobile development today.
[0003] Electric transportation, which is environmentally friendly, meets people's needs for energy conservation and emission reduction. However, for heavy transportation over long distances, pure electric transportation requires a large number of batteries, which take up a lot of space and are not conducive to cargo storage. Dual-source power heavy trucks can be equipped with a relatively small number of batteries, solving the space configuration and cost problems of pure electric trucks.
[0004] Because heavy trucks do not follow a fixed trajectory on highways like trains, and highway conditions are complex and unpredictable, it is impossible to guarantee that the pantograph of a heavy truck charging a battery will maintain constant contact with the overhead contact line. If the pantograph cannot operate stably within the designated carbon sliding plate area, normal battery charging cannot be guaranteed. When the pantograph and the overhead contact line fail to make contact and the voltage between them exceeds the air's tolerance, the air will ionize and become a conductor, generating an electric arc. The arc will generally be generated along the surface of the insulator and damage the insulator, resulting in arcing. In the face of sudden situations such as arcing, relying solely on the driver's on-the-spot reaction is often insufficient to perfectly resolve the abnormality. Summary of the Invention
[0005] To address the shortcomings of related technologies, this application provides a method and system for adjusting the pantograph of a heavy-duty truck. The method utilizes intelligent adjustment to reduce accidents during heavy-duty truck operation, assists the driver in handling emergencies in a timely manner, reduces the driver's workload, and avoids damage caused by keeping the hardware powered on in emergency situations.
[0006] On the one hand, this application provides a method for adjusting the pantograph of a heavy truck, including:
[0007] The pantograph raising control step involves the pantograph controller acquiring the air pump pressure, carbon plate thickness, and / or raising control command and determining whether the preset raising conditions are met. If so, the controller controls the pantograph to raise.
[0008] The pantograph lowering control steps are as follows: after the pantograph controller receives the lowering control command, it first adjusts the pantograph laterally according to the position of the pantograph and the contact wire, and then lowers the pantograph longitudinally back to the starting position.
[0009] The emergency pantograph lowering control steps involve real-time acquisition of the air pump pressure and the carbon plate thickness, as well as real-time monitoring for arcing phenomena. The system determines whether preset emergency pantograph lowering conditions are met. If so, the pantograph controller outputs an emergency pantograph lowering command to the pantograph switch control circuit, causing the pantograph to first lower longitudinally and then laterally return to its initial position.
[0010] The above technical solution involves checking the air pump pressure and carbon plate thickness before raising the pantograph to reduce accidents during operation. The decision to raise the pantograph is based on the driver's control command, and intelligent control is implemented to assist the driver in controlling the pantograph. During pantograph lowering, lateral adjustment is performed first, followed by longitudinal lowering to ensure the pantograph returns to its initial position, laying the foundation for precise raising control next time. In cases requiring emergency lowering, longitudinal emergency lowering is performed first to separate the pantograph from the contact wire, preventing damage to the hardware from remaining energized in emergency situations.
[0011] In some embodiments, the above-described adjustment method further includes:
[0012] The lateral displacement detection step involves collecting the lateral displacement distance between the midpoint of the pantograph and the contact wire and determining whether it exceeds the normal swing displacement zone.
[0013] In the lateral displacement control step, if the lateral displacement distance exceeds the normal swing displacement zone but does not exceed the safe swing displacement zone, the pantograph is adjusted to move into the normal swing displacement zone via the pantograph controller. If the lateral displacement distance exceeds the safe swing displacement zone, the pantograph is adjusted to move into the normal swing displacement zone via the pantograph controller, and an indication signal is output to the driver's control room.
[0014] Through the above technical solution, the lateral displacement distance between the pantograph midpoint and the contact wire is monitored in real time. No interference control is performed in the normal swing displacement zone. When the lateral displacement distance exceeds the normal swing displacement zone but does not exceed the safe swing displacement zone, adaptive lateral displacement control is performed on the pantograph. If the lateral displacement distance exceeds the safe swing displacement zone, an indicator signal is output at the same time as the lateral displacement control to remind the driver to make adjustment control together, so as to ensure that the pantograph can work normally in the normal swing displacement zone.
[0015] Optionally, in the lateral displacement detection step, the normal swing displacement zone is an area with a radius of 200mm centered on the pantograph center; the safe swing displacement zone is an area with a radius greater than 200mm and less than 375mm centered on the pantograph center.
[0016] The above technical solutions enable precise positioning of the normal swing displacement zone and the safe swing displacement zone, and divide the pantograph's working position into precise intervals, laying the foundation for lateral displacement control steps.
[0017] In some embodiments, the lateral displacement control step further includes:
[0018] In the first adjustment step, when the lateral displacement distance exceeds the offset distance of the normal swing displacement zone by less than 100mm, the pantograph controller sends a first drive signal to the motor equipment to make the pantograph return to the normal swing displacement zone.
[0019] In the second adjustment step, when the lateral displacement distance exceeds the offset distance of the normal swing displacement zone by 100mm-175mm, the pantograph controller sends a second drive signal to the motor equipment to make the pantograph return to the normal swing displacement zone.
[0020] Through the above technical solution, when the lateral displacement distance exceeds the normal swing displacement zone, the pantograph is controlled with different pulse frequencies at different offset distances to ensure that the pantograph can quickly return to the normal swing displacement zone.
[0021] In some embodiments, the lateral displacement control step further includes a PID control step: if the lateral displacement distance still exceeds the normal swing displacement zone after the first adjustment step or the second adjustment step is executed, the pantograph is adjusted again by the pantograph controller to move the pantograph into the normal swing displacement zone.
[0022] The above technical solution allows for the addition of a PID control step to compensate for missing displacement if the pantograph cannot be linearly adjusted due to factors such as wind speed or driver skill, ensuring that the pantograph remains within the normal swing displacement range after adjustment.
[0023] In some embodiments, the pantograph switch control circuit includes: a first switch electrically connected to the normal raising and lowering control interface of the pantograph controller; a second switch electrically connected to the emergency lowering control interface of the pantograph controller; a manual raising and lowering switch electrically connected to the normal raising and lowering control interface of the pantograph controller; and an emergency lowering switch electrically connected to the emergency lowering control interface of the pantograph controller.
[0024] With the above technical solution, both the manual pantograph raising and lowering switch and the emergency pantograph lowering switch are manually controlled by the driver. The first switch and the second switch are intelligently controlled by the pantograph controller. On the basis of manual control by the driver, a second solution of intelligent control of pantograph raising and lowering is added to deal with some emergencies that the driver cannot react to.
[0025] On the other hand, a pantograph adjustment system for heavy trucks, applicable to the above-mentioned adjustment method for pantographs of heavy trucks, is also provided, comprising:
[0026] The pantograph raising control module is used to acquire the pressure of the pneumatic pump, the thickness of the carbon slide plate and / or the raising control command and determine whether the preset raising conditions are met. If so, it controls the pantograph to raise.
[0027] The pantograph lowering control module is used to receive the lowering control command, and according to the position of the pantograph and the contact wire, first perform the lateral return adjustment of the pantograph and then lower the pantograph longitudinally back to the starting position.
[0028] The emergency pantograph lowering control module is used to acquire the pressure of the air pump and the thickness of the carbon slide plate in real time, and to monitor whether arcing occurs in real time. It determines whether the preset emergency pantograph lowering conditions are met. If so, it outputs an emergency pantograph lowering command to the pantograph switch control circuit through the pantograph controller, so that the pantograph is lowered longitudinally and then adjusted to return to the starting position laterally.
[0029] Through the above technical solution, the pantograph raising control module is used to determine whether the preset raising conditions are met, the pantograph lowering control module is used to control the normal lowering of the pantograph, and the emergency lowering control module is used to control the pantograph in emergency lowering situations, which reduces the frequency of sudden situations during travel and enables rapid response and handling of emergency situations.
[0030] In some embodiments, the above-mentioned adjustment system further includes: a lateral displacement detection module, used to collect the lateral displacement distance between the midpoint of the pantograph and the contact wire and determine whether it exceeds the normal swing displacement zone; a lateral displacement control module, which adjusts the pantograph to move into the normal swing displacement zone if the lateral displacement distance exceeds the normal swing displacement zone but does not exceed the safe swing displacement zone, and adjusts the pantograph to move into the normal swing displacement zone if the lateral displacement distance exceeds the safe swing displacement zone, while simultaneously outputting an indication signal to the driver's control room.
[0031] Through the above technical solution, the lateral displacement detection module and the lateral displacement control module work together to monitor and adjust the real-time position of the pantograph, so that the pantograph is always within the normal swing displacement zone.
[0032] In some embodiments, the lateral displacement control module further includes a PID control module, used to determine if the lateral displacement distance still exceeds the normal swing displacement zone after the first adjustment step or the second adjustment step is executed, and then adjust the pantograph to move into the normal swing displacement zone again.
[0033] Through the above technical solution, the PID control module is used to compensate for the difference between the preset adjustment distance and the actual adjustment distance when the adjustment cannot be linearly adjusted due to factors such as wind speed and driver's driving skills.
[0034] In some embodiments, the pantograph switch control circuit includes: a first switch for electrically connecting to the normal raising and lowering control interface of the pantograph controller; a second switch for electrically connecting to the emergency lowering control interface of the pantograph controller; a manual raising and lowering switch for electrically connecting to the normal raising and lowering control interface of the pantograph controller; and an emergency lowering switch for electrically connecting to the emergency lowering control interface of the pantograph controller.
[0035] Through the above technical solution, the pantograph controller provides a second control scheme for the driver to manually adjust the pantograph's raising and lowering via the first switch and the second switch.
[0036] In summary, this application provides a method and system for adjusting a pantograph on a heavy-duty truck. Before raising the pantograph, the pressure of the air pump and the thickness of the carbon plate are checked to reduce accidents during driving. The method determines whether to raise the pantograph based on the driver's raising control command. Intelligent control is performed to assist the driver in controlling the pantograph. The lateral displacement distance between the pantograph midpoint and the contact wire is monitored in real time, and the lateral displacement of the pantograph is intelligently adjusted to keep the pantograph within the normal swing displacement range. In case of emergency pantograph lowering control, longitudinal emergency lowering control is performed first to separate the pantograph from the contact wire, preventing damage to the pantograph, contact wire, and other hardware equipment from remaining energized in emergency situations. Attached Figure Description
[0037] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings:
[0038] Figure 1 This is a schematic diagram of the overall process for adjusting the pantograph of the heavy truck in this application;
[0039] Figure 2 The circuit diagram of the pneumatic lifting pantograph for the adjustment method of the pantograph of the heavy truck in this application is shown.
[0040] Figure 3 The circuit diagram for the mechanical lifting pantograph of the pantograph adjustment method for heavy trucks in this application is shown.
[0041] Figure 4 This is a schematic diagram showing the position of the pantograph and the contact wire in the adjustment method of the pantograph for heavy trucks in this application;
[0042] Figure 5 This is a flowchart illustrating the lateral displacement control steps of the adjustment method for the pantograph of a heavy truck in this application.
[0043] Figure 6 This is a schematic diagram of the adjustment system of the pantograph for heavy trucks in this application;
[0044] Figure 7 This is a schematic diagram illustrating the implementation process of the pantograph adjustment system for heavy trucks, which is a preferred embodiment of this application. Detailed Implementation
[0045] The technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.
[0046] In the description of this application, it should be understood that the terms "center", "lateral", "longitudinal", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.
[0047] The terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first," "second," or "third" may explicitly or implicitly include one or more of that feature.
[0048] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal communication between two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances. Specific Implementation Example 1:
[0050] refer to Figure 1 This embodiment provides a method for adjusting the pantograph of a heavy truck, the process of which includes the following steps:
[0051] In pantograph raising control step S1, before raising the pantograph, the pantograph controller acquires the air pump pressure, carbon strip thickness, and / or raising control command and determines whether the preset raising conditions are met. Specifically, the pantograph controller acquires the air pump pressure through a gas pressure sensor, detects the carbon strip thickness through a binocular visual rangefinder, and detects whether the driver's raising control command has been received through a hard wire. The preset raising conditions are whether the air pump pressure is above 6 bar, whether the carbon strip thickness meets the standard, and whether the driver's raising control command has been received. If all results are yes, the pantograph is raised; otherwise, the pantograph raising conditions are not met, and the pantograph needs to be lowered urgently for maintenance. Checking the air pump pressure and carbon strip thickness before raising the pantograph reduces the occurrence of accidents during driving. The decision to raise the pantograph is based on the driver's raising control command, and intelligent control is performed to assist the driver in controlling the pantograph. The aforementioned preset bow-raising conditions can also be configured such that bow-raising can be performed when at least two or at least one of the conditions is met. However, for precise control, in this embodiment, all three conditions are met as the preset bow-raising conditions.
[0052] In step S4 of the pantograph lowering control, after the pantograph controller receives the lowering control command, it determines the position of the pantograph and the contact wire through the binocular visual rangefinder camera. Based on the current position, it first performs lateral realignment adjustment on the pantograph, and then lowers the pantograph longitudinally back to the starting position, ensuring that the pantograph returns to the initial position, laying the foundation for the next precise raising control.
[0053] Emergency pantograph lowering control step S5 involves real-time acquisition of the pneumatic pump pressure and carbon slide plate thickness, real-time monitoring for arcing, and judgment based on preset emergency pantograph lowering conditions. These preset conditions are configured to trigger emergency pantograph lowering when any one or any combination of the following occurs: arcing, carbon slide plate thickness falling below a safe thickness threshold, or pneumatic pump pressure falling below a standard air pressure threshold. Specifically:
[0054] The binocular vision rangefinder monitors in real time whether arcing occurs. If so, the binocular vision rangefinder sends the data to the pantograph controller via CAN communication. The pantograph controller sends an emergency pantograph lowering command to the pantograph switch control circuit, so that the pantograph first lowers vertically and then returns to the starting position laterally.
[0055] The thickness of the carbon strip of the pantograph is monitored in real time by a binocular vision rangefinder. If the thickness of the carbon strip is lower than the safe thickness threshold, the binocular vision rangefinder sends the information to the pantograph controller via CAN communication. The pantograph controller will then send an emergency pantograph lowering command to the pantograph switch control circuit, so that the pantograph is first lowered vertically and then adjusted horizontally back to the starting position.
[0056] The gas pressure sensor monitors whether the pressure of the air pump is lower than the standard air pressure threshold. If so, the data is sent to the pantograph controller via CAN communication. The pantograph controller will send an emergency pantograph lowering command to the pantograph switch control circuit, so that the pantograph is first lowered vertically and then adjusted horizontally back to the starting position. When an emergency pantograph lowering control is required, the vertical emergency lowering control is performed first, so that the pantograph is quickly separated from the contact wire to prevent the hardware equipment from being damaged by remaining powered in an emergency.
[0057] For details, please refer to Figure 2 The pantograph switch control circuit includes: a manual pantograph raising / lowering switch, electrically connected to the normal raising / lowering control interface of the pantograph controller; and an emergency pantograph lowering switch, electrically connected to the emergency lowering control interface of the pantograph controller. In this embodiment, the normal raising / lowering control interface is X1.6, and the emergency lowering control interface is X1.8. The pneumatic pantograph raising / lowering circuit includes a manual pantograph raising / lowering switch, an emergency lowering switch, a first switch K5, and a second switch K6. The first switch K5 is connected in series with the manual pantograph raising / lowering switch, and the second switch K6 is connected in parallel with the emergency lowering switch. The manual pantograph raising / lowering switch and the emergency lowering switch are manually controlled. In addition to the driver's manual control, a second scheme of intelligent control of the pantograph raising / lowering is added to deal with some emergencies that the driver cannot handle. The first switch K5 and the second switch K6 are controlled by the pantograph controller. Among them, the X1.6 interface receives 24V positive voltage for raising the pantograph and does not receive voltage for lowering the pantograph. The X1.6 interface receives 24V positive voltage and the X1.8 interface receives 24V positive voltage for emergency lowering the pantograph and does not operate without voltage.
[0058] When the pantograph is raised by air pressure, X1.6 is energized, and the high-side drive of the pantograph controller turns on the first switch K5. The driver controls the manual pantograph raising and lowering switch to close, while the second switch K6 and the emergency pantograph lowering switch are in the open state. The air pressure chamber of the pantograph has a certain pressure, which drives the pantograph raising device to raise the pantograph. The pantograph controller intelligently controls the first switch K5 by monitoring the air pump pressure and the carbon plate thickness. If the air pump pressure or carbon plate thickness is lower than the standard, and the driver fails to notice and manually turn off the manual pantograph raising and lowering switch, the pantograph controller will turn off the first switch K5, stopping the pantograph raising. Under the premise that there are no faults in the overall vehicle and pantograph status, the first switch K5 and the manual pantograph raising and lowering switch are connected in series. The high-side drive of the pantograph controller turns on the first switch K5, and the driver controls the manual pantograph raising and lowering switch to close, naturally raising the pantograph manually. The contact wire charges the vehicle's battery through the DC-DC converter. The DC-DC converter detects voltage through the voltage sensor, which means that the DC-DC converter is in normal working condition and charging the vehicle's battery. Therefore, the DC-DC converter detecting voltage through the voltage sensor means that the pantograph raising is complete. If the voltage sensor fails to detect voltage, the pantograph is lowered in an emergency and maintenance is performed.
[0059] The pantograph lowering mechanism includes natural lowering and emergency lowering. During natural lowering, the first switch K5 of the pantograph controller is open, the driver's manual pantograph raising / lowering switch is also open, and the second switch K6 and the emergency lowering switch remain open. The air pressure in the pantograph raising chamber gradually decreases, and the pantograph descends slowly. During emergency lowering, one scenario is that the driver manually lowers the pantograph, with the manual pantograph raising / lowering switch closed. After the driver manually closes the emergency lowering switch, the pantograph controller opens the first switch K5 and the second switch K6, causing the air pressure in the pantograph raising chamber to drop rapidly, and the pantograph to descend rapidly. Another scenario is that the pantograph controller automatically lowers the pantograph, with the manual pantograph raising / lowering switch closed and the emergency lowering switch open. The pantograph controller opens the first switch K5 and closes the second switch K6, causing the air pressure in the pantograph raising chamber to drop rapidly, and the pantograph to descend rapidly.
[0060] For details, please refer to the following: Figure 3 It should be noted that, in this embodiment, considering that the pneumatic lifting system used for daily pantograph raising may also require maintenance, a mechanical pantograph is used during maintenance. X1.10 and X1.9 are the control interfaces for the mechanical pantograph raising on the heavy truck pantograph. When X1.10 is positive (24V) and X1.9 is negative (24V), the pantograph is raised mechanically; conversely, it is lowered. Therefore, when the pantograph is raised mechanically, switches K1 and K4 are connected, and switches K2 and K3 are disconnected. When the pantograph is lowered mechanically, switches K2 and K3 are connected, and switches K1 and K4 are disconnected.
[0061] Through the above steps, this application embodiment uses a pneumatic lifting pantograph during daily pantograph raising and lowering. Before raising the pantograph, it determines whether the pneumatic pump pressure and carbon plate thickness meet the standards, and determines whether it receives a pantograph raising control command. During use, it monitors the pneumatic pump pressure, carbon plate thickness, and arcing phenomenon in real time. In case of an emergency, it enters the emergency pantograph lowering control step S5. For maintenance after emergency pantograph lowering, a mechanical pantograph raising and lowering method is also provided to facilitate the handling of situations where the pneumatic lifting system needs maintenance.
[0062] In some embodiments, reference Figure 4 The above adjustment method includes the following steps before the pantograph lowering control step or the emergency lowering control step:
[0063] In the lateral displacement detection step S2, the lateral displacement distance between the pantograph midpoint and the contact wire is collected and it is determined whether it exceeds the normal swing displacement zone. No interference control is performed within the normal swing displacement zone. For the area outside the normal swing displacement zone, a safe swing displacement zone is defined based on the total length of the carbon sliding plate. In this embodiment, the total length of the carbon sliding plate is 760mm. Therefore, the normal swing displacement zone is defined as an area with a radius of 200mm centered on the pantograph center; the safe swing displacement zone is defined as an area with a radius greater than 200mm and less than 375mm centered on the pantograph center. Based on the total length of the carbon sliding plate, the normal swing displacement zone and the safe swing displacement zone are accurately located, and the pantograph working position is precisely divided into intervals, laying the foundation for the lateral displacement control step.
[0064] In the lateral displacement control step S3, if the lateral displacement distance exceeds the normal swing displacement zone but does not exceed the safe swing displacement zone, the pantograph is adjusted to move into the normal swing displacement zone via the pantograph controller; if the lateral displacement distance exceeds the safe swing displacement zone, the pantograph is adjusted to move into the normal swing displacement zone via the pantograph controller, and an indication signal is output to the driver's control room at the same time.
[0065] In this embodiment, the specific adjustment process is as follows: the binocular visual rangefinder camera determines whether the position of the pantograph center and the contact wire is within the safe swing displacement zone. If not, the pantograph controller sends pulse signals and direction signals to the stepper motor controller. The stepper motor drives the reducer, and the reducer output shaft drives the lead screw. The lead screw rotates relative to the lead screw nut on the rotary shaft, generating motion that drives the rotary table to rotate around the return axis, thereby causing the pantograph to produce lateral displacement. When the driver needs to cooperate in controlling the pantograph, the pantograph controller sends an indication signal to the driver's control room via a hard wire. The indicator light in the driver's control room flashes to remind the driver to adjust the steering wheel to ensure that the pantograph is within the normal swing displacement zone.
[0066] To ensure the pantograph can quickly return to its normal swing displacement range, appropriate pulse frequencies are used to control the pantograph at different offset distances. (Refer to...) Figure 4 , Figure 5 The lateral displacement control step S3 further includes:
[0067] In the first adjustment step S301, when the lateral displacement distance exceeds the offset distance of the normal swing displacement zone by less than 100mm, the pantograph controller sends a first drive signal to the motor equipment to make the pantograph quickly return to the normal swing displacement zone.
[0068] In the second adjustment step S302, when the lateral displacement distance exceeds the offset distance of the normal swing displacement zone by 100mm-175mm, the pantograph controller sends a second drive signal to the motor device to make the pantograph quickly return to the normal swing displacement zone. In this embodiment, the motor device is a stepper motor, the first drive signal is a pulse frequency of 50pps, and the second drive signal is a pulse frequency of 100pps.
[0069] Considering that the pantograph may not be able to accurately return to the normal swing displacement zone due to factors such as wind speed and driver skill, and may not be able to adjust linearly to the correct position, in order to ensure that the pantograph is within the normal swing displacement zone after adjustment and to compensate for the missing displacement, the above-mentioned lateral displacement control steps also include:
[0070] In PID control step S303, if the lateral displacement distance still exceeds the normal swing displacement zone after the first or second adjustment step is executed, the pantograph is adjusted again by the pantograph controller to move the pantograph into the normal swing displacement zone.
[0071] It should be noted that although the emergency pantograph lowering control step S5 is shown in the flowchart in a logical order, in some cases, the steps shown or described can be executed in a different order than that shown here. For example, if the driver makes a judgment or the pantograph controller determines that an emergency pantograph lowering is required, the emergency pantograph lowering control step S5 can be entered at any time, regardless of whether the current situation is in the pantograph raising control step S1, the lateral displacement detection step S2, or the lateral displacement control step S3. Specific Implementation Example 2:
[0073] refer to Figure 6 A pantograph adjustment system for heavy trucks, applicable to the aforementioned adjustment method, is provided, comprising:
[0074] The pantograph raising control module includes a pantograph controller, a binocular vision ranging camera, a motor, and a gas pressure sensor. The gas pressure sensor and the binocular vision ranging camera are used to acquire air pump pressure data and carbon plate thickness data, respectively. The gas pressure sensor and the binocular vision ranging camera transmit the acquired data to the pantograph controller via CAN communication. The pantograph controller detects whether it has received the driver's pantograph raising control command through hard wiring and determines whether the preset pantograph raising conditions are met. If so, it controls the pantograph to raise through the motor.
[0075] The lateral displacement detection module uses a binocular vision ranging camera to collect the lateral displacement distance between the pantograph midpoint and the contact wire in real time, and the pantograph controller determines whether the lateral displacement distance exceeds the normal swing displacement zone.
[0076] If the binocular visual ranging camera detects that the lateral displacement distance exceeds the normal swing displacement zone but does not exceed the safe swing displacement zone, the pantograph controller and motor equipment will adjust the pantograph to move into the normal swing displacement zone. If the lateral displacement distance exceeds the safe swing displacement zone, the pantograph will be adjusted to move into the normal swing displacement zone, and an indication signal will be output to the driver's control room.
[0077] In some embodiments, the lateral displacement control module further includes a PID control module. The PID control module can compensate for the difference between the preset adjustment distance and the actual distance when the adjustment cannot be linearly adjusted due to factors such as wind speed and driver skill. In the PID control module, the pantograph controller uses a binocular visual ranging camera to determine whether the lateral displacement distance still exceeds the normal swing displacement zone after the first or second adjustment step is executed. If so, the pantograph is adjusted again to move into the normal swing displacement zone. The lateral displacement detection module works with the lateral displacement control module to monitor and adjust the real-time position of the pantograph so that the pantograph is always within the normal swing displacement zone.
[0078] The pantograph lowering control module receives lowering control commands from the pantograph controller. Based on the position of the pantograph and the contact wire, it first adjusts the pantograph laterally and then lowers it longitudinally back to the starting position.
[0079] The emergency pantograph lowering control module uses a binocular vision ranging camera to acquire real-time air pump pressure and carbon plate thickness, and monitors for arcing phenomena to determine if preset emergency pantograph lowering conditions are met. If so, it outputs an emergency pantograph lowering command to the pantograph switch control circuit via the pantograph controller, causing the pantograph to first lower rapidly longitudinally and then return laterally to its initial position. The pantograph switch control circuit includes a manual pantograph raising / lowering switch, an emergency pantograph lowering switch, a first switch K5, and a second switch K6. The first switch K5 is controlled by the pantograph controller and is used to electrically connect to the normal raising / lowering control interface of the pantograph controller. The second switch K6 is controlled by the pantograph controller and is used to electrically connect to the emergency pantograph lowering control interface of the pantograph controller. The manual pantograph raising / lowering switch is manually controlled by the driver and is used to electrically connect to the normal raising / lowering control interface of the pantograph controller. The emergency pantograph lowering switch is manually controlled by the driver and is used to electrically connect to the emergency pantograph lowering control interface of the pantograph controller. The pantograph controller provides the driver with a second intelligent control scheme for raising and lowering the pantograph through the first switch K5 and the second switch K6.
[0080] In some embodiments, the specific implementation process is as follows: Figure 7Before the pantograph of a heavy truck begins to raise, it enters the pantograph raising control module. The module uses a binocular visual rangefinder and pantograph controller to check whether the air pressure of the air pump is normal, whether the thickness of the carbon plate meets the standard, and whether the driver has a need to raise the pantograph. The determination of whether the driver has a need to raise the pantograph is based on whether the pantograph controller receives a pantograph raising control command from the driver. If the result is yes, the pantograph begins to raise; otherwise, it enters the emergency pantograph lowering control module for maintenance.
[0081] The overhead contact line charges the vehicle's battery via DC-DC converter. The DC-DC converter detects voltage via a voltage sensor. If the DC-DC converter detects voltage via the voltage sensor, it means the pantograph raising is complete; otherwise, it enters the emergency pantograph lowering control step S5 for maintenance.
[0082] After the pantograph of the heavy truck is raised, it enters the lateral displacement detection module. The area with a radius of 200mm centered on the center of the pantograph, i.e., an area with a diameter of 400mm, is designated as the normal swing displacement zone; the area with a radius greater than 200mm and less than 375mm centered on the center of the pantograph, i.e., an area with a diameter greater than 400mm and less than 750mm, is designated as the safe swing displacement zone; and the area with a radius greater than 375mm centered on the center of the pantograph, i.e., an area with a diameter greater than 750mm, is designated as the area exceeding the safe swing displacement zone.
[0083] After entering the lateral displacement control module, the pantograph controller monitors the pantograph's operation in each section in real time through a binocular visual ranging camera. If the lateral displacement distance between the pantograph's midpoint and the contact wire is less than 400mm, the pantograph is determined to be operating within the normal swing displacement zone, and the pantograph controller does not interfere. If the lateral displacement distance between the pantograph's midpoint and the contact wire is greater than 400mm but less than 750mm, the pantograph is determined to be operating within the safe swing displacement zone, and the pantograph controller controls the pantograph to perform lateral displacement compensation. If the lateral displacement distance between the pantograph's midpoint and the contact wire is greater than 750mm, the pantograph is determined to be outside the safe swing displacement zone. The pantograph controller controls the pantograph to perform lateral displacement compensation while simultaneously sending an instruction signal to the driver's control room to notify the driver to adjust the steering wheel to ensure that the pantograph operates within the normal swing displacement zone.
[0084] During pantograph operation, the pantograph controller monitors the air pump pressure, carbon plate thickness, and the presence of arcing phenomena in real time through a binocular visual rangefinder camera. If an arcing phenomenon occurs, the controller enters the emergency pantograph lowering control module; otherwise, it operates normally until the pantograph controller receives a lowering control command and enters the pantograph lowering control module. In the pantograph lowering control module, the controller adjusts the pantograph laterally according to its position relative to the contact wire, and then lowers it longitudinally back to the starting position.
[0085] Finally, it should be noted that the various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other.
[0086] The above embodiments are only used to illustrate the technical solutions of this application and not to limit them; although this application has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications can still be made to the specific implementation of this application or equivalent substitutions can be made to some technical features without departing from the spirit of the technical solutions of this application, and all such modifications and substitutions should be covered within the scope of the technical solutions claimed in this application.
Claims
1. A method for adjusting the pantograph of a heavy-duty truck, characterized in that, include: The pantograph raising control steps involve the pantograph controller acquiring the air pump pressure, carbon plate thickness, and raising control command, and determining whether the preset raising conditions are met. If so, the controller controls the pantograph to raise. The pantograph lowering control steps are as follows: after the pantograph controller receives the lowering control command, it first adjusts the pantograph laterally according to the position of the pantograph and the contact wire, and then lowers the pantograph longitudinally back to the starting position. The emergency pantograph lowering control steps involve real-time acquisition of the air pump pressure and the carbon plate thickness, as well as real-time monitoring for arcing phenomena. The system determines whether preset emergency pantograph lowering conditions are met. If so, the pantograph controller outputs an emergency pantograph lowering command to the pantograph switch control circuit, causing the pantograph to first lower longitudinally and then laterally return to its initial position.
2. The method for adjusting the pantograph of a heavy truck according to claim 1, characterized in that, Also includes: The lateral displacement detection step involves collecting the lateral displacement distance between the midpoint of the pantograph and the contact wire and determining whether it exceeds the normal swing displacement zone. In the lateral displacement control step, if the lateral displacement distance exceeds the normal swing displacement zone but does not exceed the safe swing displacement zone, the pantograph is adjusted to move into the normal swing displacement zone via the pantograph controller. If the lateral displacement distance exceeds the safe swing displacement zone, the pantograph is adjusted to move into the normal swing displacement zone via the pantograph controller, and an indication signal is output to the driver's control room.
3. The method for adjusting the pantograph of a heavy truck according to claim 2, characterized in that, In the lateral displacement detection step, the normal swing displacement zone is a region with a radius of 200mm centered on the pantograph center; the safe swing displacement zone is a region with a radius greater than 200mm and less than 375mm centered on the pantograph center.
4. The method for adjusting the pantograph of a heavy truck according to claim 3, characterized in that, The lateral displacement control step further includes: In the first adjustment step, when the lateral displacement distance exceeds the offset distance of the normal swing displacement zone by less than 100mm, the pantograph controller sends a first drive signal to the motor equipment to make the pantograph return to the normal swing displacement zone. In the second adjustment step, when the lateral displacement distance exceeds the offset distance of the normal swing displacement zone by 100mm-175mm, the pantograph controller sends a second drive signal to the motor equipment to make the pantograph return to the normal swing displacement zone.
5. The method for adjusting the pantograph of a heavy truck according to claim 4, characterized in that, The lateral displacement control steps also include: In the PID control step, if the lateral displacement distance still exceeds the normal swing displacement zone after the first or second adjustment step is executed, the pantograph is adjusted again by the pantograph controller to move the pantograph into the normal swing displacement zone.
6. The method for adjusting the pantograph of a heavy truck according to claim 5, characterized in that, The pantograph switch control circuit includes: The first switch is electrically connected to the normal lifting control interface of the pantograph controller; The second switch is electrically connected to the emergency lowering control interface of the pantograph controller; The manual pantograph raising and lowering switch is electrically connected to the normal raising and lowering control interface of the pantograph controller; The emergency pantograph lowering switch is electrically connected to the emergency pantograph lowering control interface of the pantograph controller.
7. A pantograph adjustment system for heavy-duty trucks, applicable to the adjustment method of any one of claims 1-6, characterized in that, include: The pantograph raising control module is used to acquire the pressure of the pneumatic pump, the thickness of the carbon slide plate, and the raising control command, and determine whether the preset raising conditions are met. If so, it controls the pantograph to raise. The pantograph lowering control module is used to receive the lowering control command, and according to the position of the pantograph and the contact wire, first perform the lateral return adjustment of the pantograph and then lower the pantograph longitudinally back to the starting position. The emergency pantograph lowering control module is used to acquire the pressure of the air pump and the thickness of the carbon slide plate in real time, and to monitor whether arcing occurs in real time. It determines whether the preset emergency pantograph lowering conditions are met. If so, it outputs an emergency pantograph lowering command to the pantograph switch control circuit through the pantograph controller, so that the pantograph is lowered longitudinally and then adjusted to return to the starting position laterally.
8. The pantograph adjustment system for heavy trucks according to claim 7, characterized in that, Also includes: The lateral displacement detection module is used to collect the lateral displacement distance between the midpoint of the pantograph and the contact wire and determine whether it exceeds the normal swing displacement zone. The lateral displacement control module adjusts the pantograph to move into the normal swing displacement zone if the lateral displacement distance exceeds the normal swing displacement zone but does not exceed the safe swing displacement zone; if the lateral displacement distance exceeds the safe swing displacement zone, it adjusts the pantograph to move into the normal swing displacement zone and outputs an indication signal to the driver's control room.
9. The pantograph adjustment system for heavy trucks according to claim 8, characterized in that, The lateral displacement control module also includes: The PID control module is used to determine whether the lateral displacement distance still exceeds the normal swing displacement zone after the first adjustment step or the second adjustment step is executed. If so, the pantograph is adjusted again to move into the normal swing displacement zone. The first adjustment step includes, when the lateral displacement distance exceeds the offset distance of the normal swing displacement zone within 100mm, the pantograph controller sends a first drive signal to the motor equipment to make the pantograph return to the normal swing displacement zone; The second adjustment step includes, when the lateral displacement distance exceeds the offset distance of the normal swing displacement zone by 100mm-175mm, the pantograph controller sends a second drive signal to the motor equipment to return the pantograph to the normal swing displacement zone.
10. The pantograph adjustment system for heavy trucks according to claim 9, characterized in that, The pantograph switch control circuit includes: The first switch is used to electrically connect to the normal lifting control interface of the pantograph controller; The second switch is used to electrically connect to the emergency pantograph lowering control interface of the pantograph controller; A manual pantograph raising / lowering switch is used to electrically connect to the normal raising / lowering control interface of the pantograph controller; An emergency pantograph lowering switch is used to electrically connect the emergency pantograph lowering control interface of the pantograph controller.