Railway loading auxiliary method and system

Abstract

The invention discloses a railway loading auxiliary method and system, and the method comprises the steps: arranging a plurality of exterior detection devices at the periphery of a vehicle body, and enabling the exterior detection devices to be symmetrically arranged at opposite positions; during working, the exterior detection device is defined to irradiate downwards perpendicular to the ground as the initial position of the exterior detection device, and the exterior detection device is gradually rotated upwards as forward rotation; setting the rotation range, the rotation angular velocity and the emission period of the external detection device; recording the installation height of the external detection device relative to the bottom of the vehicle body as h; recording the first emission of the radar ray as the first emission when the exterior detection device starts to rotate upwards from the initial position, and recording the first emission as the nth emission when the exterior detection device reaches the maximum rotation range; returning the external detection device to the initial position, and cyclically counting again; by utilizing the propagation and reflection principle of radar rays, the time difference of the radar irradiating the loading auxiliary platform, the ground or the obstacle is compared to judge the surrounding condition of the vehicle body, and the working efficiency can be improved.

Description

Technical Field

[0001] The present invention relates to the technical field of transshipment and transportation, and in particular to a railway loading assistance method and system. Background Art

[0002] The transfer of large equipment such as vehicles is extremely complicated. Usually, we use rail transport to transport equipment. This is faster and reduces the time required. Secondly, it keeps secrets and prevents the leakage of operations. However, rail loading brings certain troubles. The loading of vehicles on the railway platform requires the vehicle body to be accurately driven to the center of the railway and then reinforced. However, the railway platform is basically the same width as the reprinted vehicles. This puts high demands on our vehicle drivers. Usually, the vehicle driver will drive out of the cabin, and at the same time, personnel will be arranged on the railway platform to command to ensure that the vehicle can be driven to the correct position. Crossing the sea and boarding the ship is also this method. The difference is that there are many adverse effects such as the shaking of the ship due to the ups and downs of the sea surface. At the same time, if there is an air threat at this time, driving and commanding outside the cabin will have great risks and hidden dangers, which will pose a greater test to the driver, because the internal space of the vehicle cockpit is small and the periscope field of view is extremely narrow. If driving in the cabin, the line of sight is extremely limited and it is difficult to control the stability of the vehicle. In addition, transportation is usually organized into convoys, which involves a series of problems such as vehicle arrangement and grouping, maintaining spacing, and it takes a long time, greatly delaying the fighter plane and bringing great obstacles to the operation.

[0003] At present, the manual guidance mode is the dominant mode of equipment loading. A special guide directs the vehicle driver to drive in accompanied by safety alerts. The commander directs and guides the vehicle into the loading area. In this process, the command of the vehicle needs to be rigorous and meticulous, especially for ultra-wide equipment. Since the width of the vehicle body exceeds the width of the train flatbed, the driver will have a sense of suspension when the vehicle is driving on the flatbed. It is impossible to reliably and effectively observe and judge the relative position relationship between the vehicle body and the flatbed. At this time, it must be loaded safely and smoothly under the uninterrupted command and guidance of the guide. During the vehicle driving process, the guide needs to change the command gesture in real time according to the observed vehicle position deviation. The driver then continuously corrects the position deviation according to the gesture guidance. After the vehicle stops at the designated position and stabilizes, the equipment is tied and reinforced. The safety inspector then begins to inspect and accept. After the inspection is completed, the equipment loading is considered complete.

[0004] In order to ensure the safety of the entire process and smooth loading, the human guidance part of railway loading usually adopts two operation modes: "fixed person and fixed board guidance" and "fixed person and fixed vehicle guidance".

[0005] The guidance is carried out by assigning people to designated flatbeds in a one-to-one manner. Each guide is responsible for two flatbeds. Due to the limited width of the flatbed, it is impossible to ensure that people stand on the flatbed when vehicles pass. Starting from the first vehicle, the guide carries out the assembly line operation in sequence until all vehicles arrive at the designated flatbed.

[0006] Assign people to specific vehicles for guidance, and adopt a "one-to-one" method to assign people and vehicles. One guide is responsible for one vehicle. Since people on the vehicle move at the same time, safety problems may occur easily. According to the "people move but the vehicle does not move, the vehicle moves but the people do not move" method and requirements, starting from the first flatbed, the guides move in sequence.

[0007] Currently, this commonly used loading method is time-consuming, labor-intensive, cumbersome to operate, and has a low safety factor. Summary of the invention

[0008] The technical problem to be solved by the present invention is to solve the problems that the existing commonly used loading methods are time-consuming, labor-intensive, cumbersome to operate and have a low safety factor.

[0009] In order to solve the above technical problems, the present invention provides the following technical solutions:

[0010] A railway loading assistance method for obtaining radar positioning data, comprising:

[0011] Multiple external detection devices are arranged at the front end, rear end, left side and right side of the vehicle body; the external detection devices at the left and right sides are arranged symmetrically; the external detection devices at the front and rear ends are arranged symmetrically;

[0012] Multiple external detection devices emit radar rays;

[0013] When working, define the external detection device to be irradiated vertically downward from the ground, which is the starting position of the external detection device, recorded as 0 degrees at this time, and gradually rotate the external detection device upward, which is regarded as the positive transmission; set the rotation range, rotation angular velocity and emission period of the external detection device;

[0014] The installation height of the external detection device relative to the bottom of the vehicle body is recorded as h;

[0015] When the external detection device starts to rotate upward from the starting position, the first emission of radar rays is recorded as the first emission, until the external detection device reaches the maximum rotation range, it is recorded as the nth emission; the external detection device returns to the starting position and the cycle is restarted;

[0016] Utilizing the propagation and reflection principles of radar rays, the time difference between the radar irradiating the loading auxiliary platform, the ground or obstacles is compared to determine the situation around the vehicle.

[0017] Advantages: The linear propagation and reflection principle of radar is used to compare the time difference between the radar irradiating the loading platform and the radar irradiating the ground or obstacles to understand the situation around the tank. The information transmitted by the radar is calculated and processed to form a visual interface to reflect the relative position relationship between the vehicle body and the surrounding obstacles, so as to solve the problems of the existing commonly used loading methods that are time-consuming, labor-intensive, cumbersome to operate and have a low safety factor.

[0018] In one embodiment of the present invention, the time difference between the radar irradiating the loading auxiliary platform, the ground or the obstacle is compared to determine the surrounding conditions of the vehicle body, including:

[0019] The radar rays are emitted with a certain rotation range, rotation angular velocity and emission period;

[0020] If the radar ray is irradiated on the auxiliary platform, according to trigonometric functions, the rotation angle of the external detection device is ant degrees at the nth launch;

[0021] According to the installation height h of the external detection device relative to the bottom of the vehicle body, the distance of the radar ray at the nth emission is obtained as 2h / cosant meters; and the radar ray feedback time is obtained according to the distance of the radar ray divided by the wave speed; and at the same time, the horizontal distance between the initial position and the position point where the radar ray irradiates the loading auxiliary platform at the nth emission is obtained, which is defined as the interval distance H, and the length of the interval distance H is htanant;

[0022] The distance threshold is set based on the distance of the radar ray being 2h / cosant meter; the feedback time threshold is set based on the feedback time corresponding to the distance of the radar ray being 2h / cosant meter;

[0023] During each transmission, when the radar beam feedback time is equal to the feedback time threshold and the distance of the radar beam is equal to the distance threshold, the vehicle body travels on the loading auxiliary platform.

[0024] In one embodiment of the present invention, if the distance of the emitted radar ray exceeds the distance threshold and the feedback time is greater than the feedback time threshold, the radar ray irradiates the ground at this time; if the distance of the emitted radar ray is within the distance threshold and the feedback time is less than the feedback time threshold, the radar ray irradiates the person at this time, and the driver of the vehicle sounds the horn to warn.

[0025] In one embodiment of the present invention, since the spacing distance H between the external detection devices at symmetrical positions on the left and right sides is not equal, the vehicle body is not moving at the center line of the loading auxiliary platform at this time, and a fine adjustment is made based on the spacing distance H on both sides so that the vehicle body moves slowly along the center line of the loading auxiliary platform.

[0026] In one embodiment of the present invention, the external detection device includes a detection radar 10, a pushing component 20, a sliding component 30 and a slot door component 40; the telescopic end of the pushing component 20 is fixedly connected to the detection radar 10; when working, the pushing component 20 drives the detection radar 10 to be pushed out along the sliding component 30, and pushes open the slot door component 40, and the pushing component 20 and the sliding component 30 cooperate to push and change the detection direction of the detection radar 10, so that the detection radar 10 detects the whole body of the vehicle for all-round perception; when not working, the pushing component 20 pulls the detection radar 10 along the sliding component 30 to return to the original path; the slot door component 40 closes itself in a purely mechanical way due to its own reaction force.

[0027] In one embodiment of the present invention, the sliding assembly 30 includes a first guide rail set 31, a second guide rail set 32, a linear slide 33 and a connecting mechanism 34;

[0028] A pair of linear slides 33 are respectively matched with the first guide rail group 31 for linear sliding; the detection radar 10 is located in the pair of linear slides 33 and is connected to the linear slides 33 through a rotating shaft 331;

[0029] The first guide rail group 31 is located between the second guide rail group 32; the second guide rail group 32 includes a linear guide rail segment 321 and an arc guide rail segment 322; wherein the arc guide rail segment 322 is located at one end close to the detection radar 10;

[0030] The connecting mechanism 34 includes a connecting plate 341 and a connecting rod 342; one end of the connecting plate 341 is fixedly connected to the detection radar 10, and the other end is sleeved on the connecting rod 342; the end of the connecting rod 342 is slidably matched with the second guide rail group 32; the telescopic end of the pushing assembly 20 is connected to the connecting rod 342 through a ring 343, and the ring 343 is located between the two connecting end points of the connecting plate 341 and the connecting rod 342.

[0031] In one embodiment of the present invention, the pushing component 20 is in a tilted state; the telescopic end of the pushing component 20 is in a high position relative to the opposite end of the telescopic end.

[0032] In one embodiment of the present invention, the slot door assembly 40 includes a slot door 41 and a connecting sleeve mechanism 42; one end of the connecting sleeve mechanism 42 is fixedly connected to the slot door 41, and the other end is fixedly connected to the vehicle body.

[0033] In one embodiment of the present invention, the connecting sleeve mechanism 42 includes a fixed arc sleeve 421, a limit plate 422, a spring 423 and an arc-shaped movable shaft 424; the limit plate 422 is fixedly located in the fixed arc sleeve 421; one end of the spring 423 is fixedly connected to the limit plate 422; one end of the arc-shaped movable shaft 424 is fixedly connected to the other end of the spring 423, and the other end is fixedly connected to the inner wall of the slot door 41.

[0034] The present invention also provides a railway loading assistance system, which applies the above-mentioned railway loading assistance method, and comprises: a terminal image display module;

[0035] Establishing a two-dimensional coordinate system in the terminal image display module, and setting a vehicle body model in the center of the display desktop;

[0036] According to the actual positions of the plurality of external detection devices on the vehicle body, the position coordinates of each position where the plurality of external detection devices are installed relative to the entire terminal image display module are set in the vehicle body model;

[0037] Each position coordinate is set with a corresponding text control, which loads the acquired radar positioning data and displays the real-time distance between the vehicle body and the loading auxiliary platform, the ground or obstacles;

[0038] And based on the acquired radar positioning data, data edge lines are generated around the vehicle body;

[0039] The endpoint coordinates of the data edge lines in front and behind the vehicle body are used to determine whether the front of the vehicle body is distorted; the coordinates of the symmetrical points on the data edge lines on the left and right sides of the vehicle body are used to determine whether the vehicle body is moving along the center line of the loading auxiliary platform; the steering wheel of the vehicle body is fine-tuned according to the real-time coordinate changes; and the vehicle body is made to move slowly along the center line of the loading auxiliary platform.

[0040] Compared with the prior art, the beneficial effect of the present invention is that due to the narrow field of vision of the driver's seat of the vehicle used for transshipment, when performing operations such as crossing the sea to board a ship, loading on a railway, or entering a more complex terrain, the driver cannot quickly and accurately grasp the surrounding situation. The system allows the driver to quickly perceive in a complex environment, reducing the time spent on observing and detecting the surrounding situation, speeding up the vehicle's movement speed, and significantly reducing the loading time.

[0041] This system can be applied to the display screen of the driver's seat, giving the driver the most intuitive understanding of the surrounding situation in the form of a visual interface. At the same time, it has an interactive function, which can not only give a prompt when the vehicle reaches the appropriate loading position, but also issue an alarm in time when the vehicle encounters obstacles or traps while traveling.

[0042] This system is small, simple and easy to install. Compared with other intelligent environmental perception systems, this system is lower in cost, more cost-effective, and has no overly complicated operations, so users can easily get started. The simplicity of the device also means that problems can be intuitively found when they occur, and there is no need for complicated repair processes, which makes it highly adaptable.

[0043] This system is inclusive and upgradeable, and can be developed into unmanned driving in the future, that is, no driver is needed. The tank can autonomously perceive and analyze the situation of the surrounding environment to make decisions and control the vehicle to avoid obstacles or traps. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] Figure 1 The present invention is a flow chart of a railway loading assistance method according to an embodiment of the present invention.

[0045] Figure 2 Schematic diagram of a vehicle body and exterior detection device according to an embodiment of the present invention.

[0046] Figure 3 Schematic diagram of a detection radar according to an embodiment of the present invention.

[0047] Figure 4 Schematic diagram of a second guide rail assembly according to an embodiment of the present invention.

[0048] Figure 5 Schematic diagram of a slot door assembly according to an embodiment of the present invention.

[0049] Figure 6 This is a partial enlarged view of the external detection device according to an embodiment of the present invention.

[0050] Figure 7 Schematic diagram of radar ray irradiation according to an embodiment of the present invention.

[0051] Figure 8 FIG. 4 is a schematic diagram of radar ray irradiation with an obstruction according to an embodiment of the present invention.

[0052] Fig. 9 The figure is a schematic diagram of a railway loading assistance system according to an embodiment of the present invention. DETAILED DESCRIPTION

[0053] In order to facilitate those skilled in the art to understand the technical solution of the present invention, the technical solution of the present invention is further described in conjunction with the accompanying drawings of the specification.

[0054] The terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of this application, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0055] See also Figure 1 As shown, the present invention provides a railway loading assistance method for obtaining radar positioning data, comprising:

[0056] A plurality of external detection devices are arranged at the front end, rear end, left side and right side of the vehicle body, and the external detection devices at the left and right sides are arranged symmetrically, and the external detection devices at the front and rear ends are arranged symmetrically.

[0057] Multiple external detection devices emit radar rays.

[0058] When working, define the external detection device to be vertically irradiated downwards on the ground as the starting position of the external detection device, which is recorded as 0 degrees at this time. The external detection device is gradually rotated upwards, which is considered as the positive transmission. Set the rotation range, rotation angular velocity and emission cycle of the external detection device.

[0059] The installation height of the external detection device relative to the bottom of the vehicle body is denoted as h.

[0060] When the external detection device starts to rotate upward from the starting position, the first emission of radar rays is recorded as the first emission, until the external detection device reaches the maximum rotation range, it is recorded as the last emission; the external detection device then returns to the starting position and the cycle is restarted.

[0061] Utilizing the propagation and reflection principles of radar rays, the time difference between the radar irradiating the loading auxiliary platform, the ground or obstacles is compared to determine the situation around the vehicle.

[0062] See also Figure 2 As shown, in this embodiment, label A represents an external detection device, which mainly uses a detection radar with environmental perception capability. The loading environment is complex and is not conducive to infrared sensors and optical sensors.

[0063] See also Figures 3 to 6 As shown, in one embodiment of the present invention, the external detection device includes a detection radar 10, a pushing component 20, a sliding component 30 and a slot door component 40. The telescopic end of the pushing component 20 is fixedly connected to the detection radar 10. When working, the pushing component 20 drives the detection radar 10 to be pushed out along the sliding component 30, and pushes open the slot door component 40, and the pushing component 20 and the sliding component 30 cooperate to push and change the detection direction of the detection radar 10, so that the detection radar 10 detects the whole body of the vehicle for all-round perception. When not working, the pushing component 20 pulls the detection radar 10 back along the sliding component 30; the slot door component 40 closes itself in a purely mechanical way due to its own reaction force.

[0064] In this embodiment, the pushing component 20 is specifically an electric push-pull rod, and the pushing component 20 is in a tilted state; the telescopic end of the pushing component 20 is in a high position relative to the opposite end of the telescopic end.

[0065] In this embodiment, the sliding assembly 30 includes a first guide rail set 31 , a second guide rail set 32 ​​, a linear slide 33 and a connecting mechanism 34 .

[0066] A pair of linear slides 33 are respectively matched with the first guide rail group 31 for linear sliding. The detection radar 10 is located in the pair of linear slides 33 and is connected to the linear slides 33 via a rotating shaft 331 .

[0067] The first guide rail group 31 is located between the second guide rail group 32; the second guide rail group 32 includes a linear guide rail segment 321 and an arc guide rail segment 322; wherein the arc guide rail segment 322 is located at one end close to the detection radar 10;

[0068] The connecting mechanism 34 includes a connecting plate 341 and a connecting rod 342; one end of the connecting plate 341 is fixedly connected to the detection radar 10, and the other end is sleeved on the connecting rod 342; the end of the connecting rod 342 is slidably matched with the second guide rail group 32; the telescopic end of the pushing assembly 20 is connected to the connecting rod 342 through a ring 343, and the ring 343 is located between the two connecting end points of the connecting plate 341 and the connecting rod 342.

[0069] In this embodiment, the slot door assembly 40 includes a slot door 41 and a connecting sleeve mechanism 42; one end of the connecting sleeve mechanism 42 is fixedly connected to the slot door 41, and the other end is fixedly connected to the vehicle body. The connecting sleeve mechanism 42 includes a fixed arc sleeve 421, a limit plate 422, a spring 423 and an arc movable shaft 424; the limit plate 422 is fixedly located in the fixed arc sleeve 421. One end of the spring 423 is fixedly connected to the limit plate 422; one end of the arc movable shaft 424 is fixedly connected to the other end of the spring 423, and the other end is fixedly connected to the inner wall of the slot door 41.

[0070] See also Figures 3 to 6 As shown, in one embodiment of the present invention, when the push assembly 20 pushes the detection radar 10 outward through the connecting rod 342, the detection radar 10 will first slide linearly due to the action of the first guide rail group 31 and the linear slide plate 33. When the linear slide plate 33 contacts the slot door 41, the slot door 41 will be pushed open, and the spring 423 will be stretched. When the detection radar 10 is continuously pushed, the circular arc guide rail section 322 will push the detection radar 10 to rotate, thereby adjusting the rotation angle of the detection radar 10, so that the detection radar 10 can detect at different angles. At the same time, by using multiple external detection devices evenly and symmetrically arranged on the vehicle body, information collection around the vehicle body can be realized, so that the operator can move the chariot inside the vehicle body through the collected imaging information, avoiding collisions during the moving process due to poor vision inside the vehicle body. At the same time, through the information collected by the detection radar 10, the distance between multiple vehicles can be guaranteed when they are driving on complex roads.

[0071] In addition, when the detection radar 10 is not in use, the detection radar 10 can be put into the vehicle body by retracting the push assembly 20, and at the same time the spring 423 generates a reaction force, so that the slot door 41 will be closed.

[0072] When the slot door 41 is opened, the detection radar 10 is protected to prevent the detection radar 10 from being damaged by collision with objects on the outer wall during movement.

[0073] See also Figure 1 , Figure 7 and Figure 8 As shown, in one embodiment of the present invention, the detection radar is irradiated vertically downward from the ground as the starting position of the detection radar, and a vertical line is drawn between the detection radar and the loading auxiliary platform, which is recorded as 0 degrees at this time. The detection radar rotates upward relative to the vehicle body, which is regarded as positive rotation. The rotation range of the detection radar is 0 degrees to 85 degrees. The rotation angular velocity of the detection radar is fixed at a degree / second, the radar's transmission period is t seconds / time, and the wave speed is r meters / second.

[0074] The installation height of the detection radar relative to the bottom of the vehicle body is recorded as h, and the first emission when the detection radar starts to rotate upward from the starting position is recorded as the first occurrence, until the detection radar reaches the maximum rotation range, it is recorded as the nth emission; wherein, during the nth emission, the radar ray irradiates the edge of the loading auxiliary platform. The detection radar returns to the starting position and the cycle is restarted. Since the working principle of the present invention is to use the linear propagation and reflection principles of the detection radar to compare the time difference between the radar irradiating the loading auxiliary platform and the radar irradiating the ground or obstacles to understand the surrounding conditions of the chariot, when the detection radar is in the range of 85 degrees to 90 degrees, the measurement range is too large, far exceeding the safety distance range required by the vehicle body, so the large angle of 85 degrees to 90 degrees is not required, and the counting stops when the detection radar rotates to 85 degrees.

[0075] If the tank is traveling with the loading auxiliary platform horizontal, and the radar ray is irradiated on the loading auxiliary platform, according to the trigonometric function calculation, the detection angle of the detection radar is ant degrees for the nth transmission, and the height h of the vehicle body is a right angle of the triangle, then the hypotenuse of the right triangle is h / cosant meters, and the distance of the radar beam is twice the length of the hypotenuse, that is, the distance of the nth transmission is 2h / cosant meters. The feedback time is the distance of the radar beam divided by the wave speed, that is, 2h / rcosant seconds. At the same time, the horizontal distance between the initial position and the position point where the radar ray irradiates the loading auxiliary platform during the nth transmission is obtained, which is defined as the interval distance H, and the length of the interval distance H is htanant.

[0076] If the radar ray irradiation exceeds the loading auxiliary platform and falls on the ground, the radar transmission distance will become longer than the original distance, and the time will also be longer accordingly. The distance threshold is set based on the distance of the radar ray of 2h / cosant meters; the feedback time threshold is set based on the feedback time corresponding to the distance of the radar ray of 2h / cosant meters. If the distance of the emitted radar ray exceeds the distance threshold, and the feedback time is greater than the feedback time threshold; then the radar ray irradiates the ground at this time; if the distance of the emitted radar ray is within the distance threshold, and the feedback time is less than the feedback time threshold, then at this time, the radar ray irradiates the person, and the driver of the vehicle whistles to warn.

[0077] In one embodiment of the present invention, since the spacing distance H between the external detection devices at symmetrical positions on the left and right sides is not equal, the vehicle body is not moving at the center line of the loading auxiliary platform at this time, and a fine adjustment is made based on the spacing distance H on both sides so that the vehicle body moves slowly along the center line of the loading auxiliary platform.

[0078] Example 2

[0079] See also Fig. 9 As shown, using the radar positioning data obtained in Example 1, the present invention also provides a railway loading assistance system, including: a terminal image display module.

[0080] A two-dimensional coordinate system is established in the terminal image display module, and a vehicle body model is set in the center of the display desktop.

[0081] And according to the actual positions of the multiple external detection devices on the vehicle body, the position coordinates of each installation position of the multiple external detection devices relative to the entire terminal image display module are set in the vehicle body model.

[0082] Each position coordinate is set with a corresponding text control, which loads the acquired radar positioning data and displays the real-time distance between the vehicle body and the loading auxiliary platform, the ground or obstacles.

[0083] And based on the acquired radar positioning data, data edge lines are generated around the vehicle body.

[0084] The endpoint coordinates of the data edge lines in front and behind the vehicle body are used to determine whether the front of the vehicle body is distorted, and the coordinates of the symmetrical points on the data edge lines on the left and right sides of the vehicle body are used to determine whether the vehicle body is moving along the center line of the loading auxiliary platform. According to the real-time coordinate changes, the steering wheel of the vehicle body is fine-tuned to make the vehicle body move slowly along the center line of the loading auxiliary platform.

[0085] Among them, it should be noted that Fig. 9 The middle coding position is the relevant parameter settings of this system and the system name used by the unit, and does not involve other meanings.

[0086] It is obvious to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the present invention can be implemented in other specific forms without departing from the spirit or essential features of the present invention. Therefore, the embodiments should be regarded as exemplary and non-limiting from any point of view, and the scope of the present invention is defined by the appended claims rather than the above description, and it is intended that all changes falling within the meaning and scope of the equivalent elements of the claims are included in the present invention, and any reference numerals in the claims should not be regarded as limiting the claims involved.

[0087] The above-described embodiments merely represent implementation methods of the invention. The protection scope of the present invention is not limited to the above-described embodiments. For those skilled in the art, several modifications and improvements may be made without departing from the concept of the present invention, which all belong to the protection scope of the present invention.

Claims

1. A railway loading assistance method, It is characterized in that Get radar positioning data, including: Multiple external detection devices are arranged at the front end, rear end, left side and right side of the vehicle body; the external detection devices at the left and right sides are arranged symmetrically; the external detection devices at the front and rear ends are arranged symmetrically; Multiple external detection devices emit radar rays; When working, define the external detection device to be irradiated vertically downward from the ground, which is the starting position of the external detection device, recorded as 0 degrees at this time, and gradually rotate the external detection device upward, which is regarded as the positive transmission; set the rotation range, rotation angular velocity and emission period of the external detection device; The installation height of the external detection device relative to the bottom of the vehicle body is recorded as h; When the external detection device starts to rotate upward from the starting position, the first emission of radar rays is recorded as the first emission, until the external detection device reaches the maximum rotation range, it is recorded as the nth emission; the external detection device returns to the starting position and the cycle is restarted; Utilizing the propagation and reflection principles of radar rays, the time difference between the radar irradiating the loading auxiliary platform, the ground or obstacles is compared to determine the situation around the vehicle.

2. The railway loading assistance method according to claim 1, It is characterized in that Compare the time difference between the radar irradiating the loading auxiliary platform, the ground or obstacles to determine the situation around the vehicle, including: The radar rays are emitted with a certain rotation range, rotation angular velocity and emission period; If the radar ray is irradiated on the auxiliary platform, according to trigonometric functions, the rotation angle of the external detection device is ant degrees at the nth launch; According to the installation height h of the external detection device relative to the bottom of the vehicle body, the distance of the radar ray at the nth emission is obtained as 2h / cosant meters; and the radar ray feedback time is obtained according to the distance of the radar ray divided by the wave speed; and at the same time, the horizontal distance between the initial position and the position point where the radar ray irradiates the loading auxiliary platform at the nth emission is obtained, which is defined as the interval distance H, and the length of the interval distance H is htanant; The distance threshold is set based on the distance of the radar ray being 2h / cosant meter; the feedback time threshold is set based on the feedback time corresponding to the distance of the radar ray being 2h / cosant meter; Each time the radar beam is transmitted, when the feedback time of the radar beam is equal to the feedback time threshold and the distance of the radar beam is equal to the distance threshold, the vehicle body is traveling on the loading auxiliary platform.

3. The railway loading assistance method according to claim 2, It is characterized in that If the distance of the emitted radar ray exceeds the distance threshold and the feedback time is greater than the feedback time threshold, the radar ray is irradiated on the ground at this time; if the distance of the emitted radar ray is within the distance threshold and the feedback time is less than the feedback time threshold, the radar ray is irradiated on the person at this time, and the driver of the vehicle sounds the horn to warn.

4. The railway loading assistance method according to claim 2, It is characterized in that Since the spacing distance H between the external detection devices at symmetrical positions on the left and right sides is not equal, the vehicle body is not moving at the center line of the loading auxiliary platform at this time, and fine-tuning is performed based on the spacing distance H on both sides to make the vehicle body move slowly along the center line of the loading auxiliary platform.

5. The railway loading assistance method according to claim 1, It is characterized in that The external detection device comprises a detection radar (10), a pushing component (20), a sliding component (30) and a slot door component (40); the telescopic end of the pushing component (20) is fixedly connected to the detection radar (10); when working, the pushing component (20) drives the detection radar (10) to be pushed out along the sliding component (30) and pushes open the slot door component (40), and the pushing component (20) and the sliding component (30) cooperate to push and change the detection direction of the detection radar (10), so that the detection radar (10) detects the whole body of the vehicle for all-round perception; when not working, the pushing component (20) pulls the detection radar (10) back along the sliding component (30) to the original path; the slot door component (40) closes itself in a purely mechanical manner due to its own reaction force.

6. The railway loading assistance method according to claim 5, It is characterized in that The sliding assembly (30) comprises a first guide rail group (31), a second guide rail group (32), a linear slide plate (33) and a connecting mechanism (34); A pair of linear slides (33) are respectively matched with the first guide rail group (31) for linear sliding. The detection radar (10) is located in the pair of linear slides (33) and is connected to the linear slides (33) via a rotating shaft (331). The first guide rail group (31) is located between the second guide rail group (32); the second guide rail group (32) includes a linear guide rail segment (321) and an arc guide rail segment (322); wherein the arc guide rail segment (322) is located at one end close to the detection radar (10); The connecting mechanism (34) comprises a connecting plate (341) and a connecting rod (342); one end of the connecting plate (341) is fixedly connected to the detection radar (10), and the other end is sleeved on the connecting rod (342); the end of the connecting rod (342) is slidably matched with the second guide rail group (32); the telescopic end of the pushing component (20) is connected to the connecting rod (342) through a sleeve ring (343), and the sleeve ring (343) is located between the two connecting end points of the connecting plate (341) and the connecting rod (342).

7. The railway loading assistance method according to claim 5, It is characterized in that The pushing component (20) is in an inclined state; the telescopic end of the pushing component (20) is in a high position relative to the opposite end of the telescopic end.

8. The railway loading assistance method according to claim 5, It is characterized in that The slot door assembly (40) comprises a slot door (41) and a connecting sleeve mechanism (42); one end of the connecting sleeve mechanism (42) is fixedly connected to the slot door (41), and the other end is fixedly connected to the vehicle body.

9. The railway loading assistance method according to claim 8, It is characterized in that The connecting sleeve mechanism (42) comprises a fixed arc sleeve (421), a limiting plate (422), a spring (423) and an arc-shaped movable shaft (424); the limiting plate (422) is fixedly located in the fixed arc sleeve (421); one end of the spring (423) is fixedly connected to the limiting plate (422); one end of the arc-shaped movable shaft (424) is fixedly connected to the other end of the spring (423), and the other end is fixedly connected to the inner wall of the slot door (41).

10. A railway loading assistance system, using the railway loading assistance method according to any one of claims 1 to 9, It is characterized in that include: Terminal image display module; Establishing a two-dimensional coordinate system in the terminal image display module, and setting a vehicle body model in the center of the display desktop; According to the actual positions of the plurality of external detection devices on the vehicle body, the position coordinates of each position where the plurality of external detection devices are installed relative to the entire terminal image display module are set in the vehicle body model; Each position coordinate is set with a corresponding text control, which loads the acquired radar positioning data and displays the real-time distance between the vehicle body and the loading auxiliary platform, the ground or obstacles; And based on the acquired radar positioning data, data edge lines are generated around the vehicle body; The endpoint coordinates of the data edge lines in front and behind the vehicle body are used to determine whether the front of the vehicle body is distorted; the coordinates of the symmetrical points on the data edge lines on the left and right sides of the vehicle body are used to determine whether the vehicle body is moving along the center line of the loading auxiliary platform; the steering wheel of the vehicle body is fine-tuned according to the real-time coordinate changes; and the vehicle body is made to move slowly along the center line of the loading auxiliary platform.

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