Railway loading vehicle guiding method, system and device

Abstract

The invention provides a railway loading vehicle guiding method, system and device, and relates to the technical field of intelligent guiding, and the method comprises the steps: controlling a laser radar to employ a preset scanning frequency and a circular truncated cone scanning mode to scan a reflective marking line disposed on a railway slab, and obtaining a reflection distance parameter and a reflection intensity parameter as laser signal parameters; according to the laser signal parameters, combining an edge alignment detection method to obtain edge reflection parameters and edge alignment angle parameters; according to the edge reflection parameter and the edge alignment angle parameter, a displacement deviation parameter of the to-be-loaded vehicle relative to the reflective marking line is obtained in combination with an offset measurement method; and controlling the to-be-loaded vehicle to move to the railway flatcar according to the displacement deviation parameter. According to the invention, an edge alignment detection method and an offset measurement method are combined, so that the guiding precision of the railway loading vehicle is improved.

Description

Technical Field

[0001] The present application relates to the field of intelligent guidance technology, in particular to a railway loading vehicle guidance method, system and device. Background Art

[0002] Railway loading and guidance technology is of great significance to improving the efficiency and safety of railway transportation. It ensures that vehicles can be parked accurately on the train platform, avoids the risk of accidents caused by inaccurate loading, such as rollover, and reduces labor costs and time consumption. This technology is widely used in the long-distance transportation of engineering vehicles and special equipment, providing a guarantee for the efficient movement of large equipment. Traditional railway loading and guidance technology relies on manual auxiliary guidance, which has poor accuracy and is time-consuming. Although automated railway loading and guidance technology has been improved, it mostly uses visual or magnetic sensing and other means, which are easily affected by environmental interference and have unstable measurement accuracy. Summary of the invention

[0003] The present application provides a railway loading vehicle guiding method, system and device to solve one or more technical problems existing in the prior art and at least provide a beneficial option or create conditions.

[0004] On the one hand, the present application provides a railway loading vehicle guidance method, comprising the following steps: The laser radar is controlled to use a preset scanning frequency and a frustum scanning mode to scan the reflective marking line set on the railway flat plate, and the reflection distance parameter and the reflection intensity parameter are obtained as the laser signal parameters; According to the laser signal parameters, in combination with the edge alignment detection method, edge reflection parameters and edge alignment angle parameters are obtained; the edge reflection parameters refer to the laser signal parameters reflected when the laser pulse emitted by the laser radar irradiates the edge of the reflective marking line; the edge alignment angle parameter refers to the angle between the emission direction of the laser radar and the longitudinal axis centerline of the bottom of the vehicle to be loaded in a plane based on the railway flatbed when the laser pulse emitted by the laser radar irradiates the edge of the reflective marking line; According to the edge reflection parameter and the edge alignment angle parameter, in combination with an offset measurement method, a displacement deviation parameter of the vehicle to be loaded relative to the reflective marking line is obtained; According to the displacement deviation parameter, the vehicle to be loaded is controlled to move onto the railway flat car.

[0005] Furthermore, the reflective marking line is arranged on the longitudinal center line of the railway slab.

[0006] Furthermore, the laser radar is controlled to scan the reflective marking line set on the railway flat plate using a preset scanning frequency and a truncated cone scanning mode, and obtains a reflection distance parameter and a reflection intensity parameter as laser signal parameters, including: Controlling the emitting device of the laser radar to use a preset scanning frequency and a frustum scanning mode to scan the reflective marking line; Using the receiving device of the laser radar to receive the laser signal reflected from the reflective marking line to obtain an initial laser signal; The initial laser signal parameters are processed by using the modulation and demodulation device of the laser radar to obtain the reflection distance parameter and the reflection intensity parameter as the laser signal parameters.

[0007] Further, the edge reflection parameter and the edge alignment angle parameter are obtained according to the laser signal parameter in combination with the edge alignment detection method, including: According to the laser signal parameter, in combination with the edge alignment detection method, an edge reflection intensity parameter is obtained; the edge reflection intensity parameter refers to the intensity parameter of the laser signal reflected when the laser pulse emitted by the laser radar irradiates the edge of the reflective marking line; According to the laser signal parameter, taking the reflection distance parameter corresponding to the edge reflection intensity parameter as the edge reflection distance parameter; taking the edge reflection intensity parameter and the edge reflection distance parameter as the edge reflection parameter; Determine the emission direction of the laser radar to obtain an emission angle parameter; The edge alignment angle parameter is obtained according to the edge reflection parameter and the emission angle parameter.

[0008] Further, the offset measurement method includes a circular trajectory measurement method, and the circular trajectory measurement method satisfies the following formula: ; in, is the displacement deviation parameter obtained based on the circular trajectory measurement method, represents the radius length of the circular running track of the laser pulse emitted by the laser radar in the plane based on the railway flatbed, represents the edge alignment angle parameter.

[0009] Further, the offset measurement method includes an ellipse trajectory measurement method, and the ellipse trajectory measurement method satisfies the following formula: ; in, is the displacement deviation parameter obtained based on the elliptical trajectory measurement method, represents the length of the major semi-axis of the elliptical trajectory of the laser pulse emitted by the laser radar in the plane based on the railway flatbed, represents the length of the minor semi-axis of the elliptical trajectory of the laser pulse emitted by the laser radar in the plane based on the railway flatbed, represents the edge alignment angle parameter.

[0010] Further, the offset measurement method includes a direct distance measurement method, and the direct distance measurement method satisfies the following formula: ; in, is the displacement deviation parameter obtained based on the direct distance measurement method, represents the fixed tilt angle of the transmitting device of the laser radar, represents the edge reflection distance parameter in the edge reflection parameter, represents the edge alignment angle parameter.

[0011] Further, the edge alignment angle parameters include a front left deviation angle of the front wheel, a rear right deviation angle of the front wheel, a front left deviation angle of the rear wheel, and a rear right deviation angle of the rear wheel; the displacement deviation parameters include a front wheel offset value and a rear wheel offset value; The method of obtaining the displacement deviation parameter of the vehicle to be loaded relative to the reflective marking line according to the edge reflection parameter and the edge alignment angle parameter in combination with an offset measurement method includes: According to the edge reflection parameter and the front left deviation angle of the front wheel, a front wheel left deviation value is obtained in combination with an offset measurement method; According to the edge reflection parameter and the front wheel rear right deviation angle, in combination with an offset measurement method, a front wheel right deviation value is obtained; According to the edge reflection parameter and the rear wheel front left deviation angle, in combination with an offset measurement method, a rear wheel left deviation value is obtained; According to the edge reflection parameter and the rear wheel rear right deviation angle, in combination with an offset measurement method, a rear wheel right deviation value is obtained; Calculate the average of the front wheel left deviation value and the front wheel right deviation value to obtain the front wheel offset value; The average value of the rear wheel left deviation value and the rear wheel right deviation value is calculated to obtain the rear wheel offset value.

[0012] On the other hand, the present application provides a railway loading vehicle guidance system, including: a laser scanning module, an alignment detection module, an offset measurement module and an interactive control module; The laser scanning module is used to control the laser radar to use a preset scanning frequency and a frustum scanning mode to scan the reflective marking line set on the railway flat plate, and obtain a reflection distance parameter and a reflection intensity parameter as a laser signal parameter; The alignment detection module is used to obtain edge reflection parameters and edge alignment angle parameters according to the laser signal parameters in combination with the edge alignment detection method; the edge reflection parameters refer to the laser signal parameters reflected when the laser pulse emitted by the laser radar irradiates the edge of the reflective marking line; the edge alignment angle parameter refers to the angle between the emission direction of the laser radar and the longitudinal axis centerline of the bottom of the vehicle to be loaded in the plane based on the railway flatbed when the laser pulse emitted by the laser radar irradiates the edge of the reflective marking line; The offset measurement module is used to obtain a displacement deviation parameter of the vehicle to be loaded relative to the reflective marking line according to the edge reflection parameter and the edge alignment angle parameter in combination with an offset measurement method; The interactive control module is used to control the vehicle to be loaded to move onto the railway flat car according to the displacement deviation parameter.

[0013] On the other hand, the present application provides a railway loading vehicle guidance device, including: a laser radar, a computing device, and an interactive display device; The laser radar is installed at the center line of the longitudinal axis of the bottom of the vehicle to be loaded by means of strong magnetic attraction; The laser radar includes a laser transmitting and receiving module, a single chip microcomputer and a motor; The laser transmitting and receiving module includes a transmitting device, a receiving device and a modulation and demodulation device; Setting the 0 degree launching direction and the 180 degree launching direction of the launching device to be aligned with the longitudinal axis centerline of the bottom of the vehicle to be loaded; The laser transmitting and receiving module is used to scan the reflective marking line set on the railway flat plate using a preset scanning frequency and a frustum scanning mode, and obtain a reflection distance parameter and a reflection intensity parameter as a laser signal parameter; The single chip microcomputer is used to control the motor to drive the laser transmitting and receiving module to rotate; The single chip microcomputer is also used to obtain edge reflection parameters and edge alignment angle parameters according to the laser signal parameters in combination with the edge alignment detection method; the edge reflection parameters refer to the laser signal parameters reflected when the laser pulse emitted by the laser radar irradiates the edge of the reflective marking line; the edge alignment angle parameter refers to the angle between the emission direction of the laser radar and the longitudinal axis centerline of the bottom of the vehicle to be loaded in the plane based on the railway flatbed when the laser pulse emitted by the laser radar irradiates the edge of the reflective marking line; The computing device is used to obtain a displacement deviation parameter of the vehicle to be loaded relative to the reflective marking line according to the edge reflection parameter and the edge alignment angle parameter in combination with an offset measurement method; The interactive display device is used to control the vehicle to be loaded to move onto the railway flat car according to the displacement deviation parameter.

[0014] The beneficial effects of the present application are as follows: the present application provides a method for guiding a railway loading vehicle, including: controlling a laser radar to adopt a preset scanning frequency and a truncated table scanning mode to scan a reflective marking line set on a railway flatbed, and obtaining a reflection distance parameter and a reflection intensity parameter as a laser signal parameter; according to the laser signal parameter, in combination with an edge alignment detection method, obtaining an edge reflection parameter and an edge alignment angle parameter; the edge reflection parameter refers to the laser signal parameter reflected when the laser pulse emitted by the laser radar irradiates the edge of the reflective marking line; the edge alignment angle parameter refers to the angle between the emission direction of the laser radar and the longitudinal axis centerline of the bottom of the vehicle to be loaded in a plane based on the railway flatbed when the laser pulse emitted by the laser radar irradiates the edge of the reflective marking line; according to the edge reflection parameter and the edge alignment angle parameter, in combination with an offset measurement method, obtaining a displacement deviation parameter of the vehicle to be loaded relative to the reflective marking line; according to the displacement deviation parameter, controlling the vehicle to be loaded to move to the railway flatcar. The present application combines the edge alignment detection method and the offset measurement method to improve the accuracy of railway loading vehicle guidance. The present application also provides a corresponding device and system, and the beneficial effects of the device and system are similar to those of the method, which will not be repeated here.

[0015] Other features and advantages of the present application will be described in the following description, and partly become apparent from the description, or understood by practicing the present application. The purpose and other advantages of the present application can be realized and obtained by the structures specifically pointed out in the description, claims and drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The accompanying drawings are used to provide a further understanding of the technical solution of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the technical solution of the present invention and do not constitute a limitation on the technical solution of the present invention.

[0017] Figure 1 is a flow chart of the railway loading vehicle guidance method provided by the present application; Figure 2 is a structural diagram of the railway loading vehicle guidance system provided by the present application; Figure 3 It is a schematic diagram of controlling the laser radar to scan provided by this application; Figure 4 This is a principle diagram of obtaining the displacement deviation parameter of the vehicle to be loaded relative to the reflective marking line according to the edge alignment angle parameter combined with the circular trajectory measurement method provided by the present application; Figure 5It is a scatter diagram of displacement deviation parameters of a vehicle to be loaded during the process of controlling the movement of the vehicle to be loaded onto a railway flat car provided by the present application. DETAILED DESCRIPTION

[0018] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0019] The present application is further described below in conjunction with the accompanying drawings and specific embodiments. The described embodiments should not be regarded as limiting the present application, and all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present application.

[0020] In the following description, reference is made to “some embodiments”, which describe a subset of all possible embodiments, but it will be understood that “some embodiments” may be the same subset or different subsets of all possible embodiments and may be combined with each other without conflict.

[0021] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used herein are only for the purpose of describing the embodiments of this application and are not intended to limit this application.

[0022] The existing vehicle railway loading guidance systems each have their own characteristics, but also have limitations to varying degrees.

[0023] The multi-group laser diffuse reflector guidance system measures the angle of the reflector in front of the vehicle through multiple groups of laser diffuse reflectors, which can directly reflect the lateral offset between the front of the vehicle and the flat plate, and has certain advantages in measuring the front position of the vehicle. However, this system is difficult to effectively solve the problem of centering the rear of the vehicle, and the installation and calibration are complicated, requiring certain technical and time costs. In addition, it has problems such as insufficient adaptability and low guidance accuracy when facing different types of vehicles.

[0024] The electromagnetic guidance system with multiple sets of magnetic sensors adopts non-contact measurement, has strong adaptability to the environment, and is not easily disturbed by dust, fog, etc. Multiple sets of magnetic sensors can be arranged in different positions, and the relative position relationship is determined by detecting the change of magnetic field, which is reliable and stable. However, the measurement accuracy of magnetic sensors is low, and they are easily disturbed in complex electromagnetic environments. The system design and installation are complex, and they are not comprehensive enough in measuring the alignment of the overall center of the vehicle with the center of the flat plate and the centering of the rear of the vehicle.

[0025] The visual guidance system uses image processing algorithms to identify key information about vehicles and flat panels, and intuitively reflects the appearance characteristics and relative positional relationship between the two. In theory, it has good adaptability. However, its accuracy depends on image processing algorithms and image quality. In the case of poor light or image occlusion, the measurement results are inaccurate. The calculation complexity is high, and powerful computing resources are required to ensure real-time performance. The installation and calibration are also relatively complex, and it is difficult to adjust the adaptability to different types of vehicles and flat panels.

[0026] In addition, the patent with publication number CN204323334U discloses an armored vehicle rail loading guidance system, which uses multiple sensors for guidance, including global positioning modules and infrared depth vision, but its accuracy is only about 10 cm, which is difficult to meet high-precision requirements. The slight difference in the camera installation position leads to different camera fields of view and viewing distances, and the measurement effect is similar to visual observation. The lack of powerful intelligent applicability algorithm support makes it impossible for the system to achieve the unity of high precision and applicability of multiple vehicle models.

[0027] The patent with publication number 2020202436209 discloses a railway loading assistance device based on laser guidance positioning. This device requires a transmitter to be set at the front end of the flatbed and a receiver to be set at the front of the vehicle. The angle deviation between the front of the vehicle and the center line of the flatbed is measured and converted into a distance deviation. However, as the distance between the front of the vehicle and the front of the flatbed increases, the angle error will also increase, resulting in limited reference value for the driver, especially failing to solve the problem of centering the rear of an overlong and overweight vehicle. In addition, setting a transmitter at the front end of the flatbed is not conducive to continuous operation.

[0028] The patent with publication number CN114460600A discloses a method and system for automatic loading deviation identification of equipment based on three-dimensional laser radar. Although it adopts advanced laser radar technology, its implementation process is complicated and requires multiple algorithm processing to obtain the angular deviation between the front of the vehicle and the center line of the flat plate, and further convert it into a distance deviation. However, the patent does not provide a detailed measurement and calibration method, which affects the reliability and long-term stability of the system. In addition, the laser radar is installed in the front of the vehicle and mainly measures the distance from the front of the vehicle to the edge of the flat plate. It is easily affected by the roughness of the edge of the flat plate and has poor accuracy. More importantly, this arrangement cannot accurately reflect the actual deviation of the front and rear wheels, which makes it inconvenient for the driver to accurately control the vehicle position and affects the real-time guidance effect.

[0029] Patent No. 2017206330926 discloses a transverse shifting device for railway loading of heavy equipment. The device is mainly used for reinforcement and adjustment of heavy equipment when loading on a flatbed truck, and includes components such as a jack and a shifter. Since its design is inconvenient for continuous operation and carrying, and increases labor intensity, it is not suitable for efficient and fast loading requirements.

[0030] In summary, the above existing technologies all have limitations to varying degrees and cannot fully and efficiently meet the strict requirements for deviation control in modern railway loading processes. They fail to fully solve the problems in practical applications due to insufficient accuracy, poor adaptability, high cost, and complex operation. These limitations provide room for improvement in the development of new guidance systems that are more accurate, intelligent, economical, and suitable for a variety of vehicle models.

[0031] In response to the problems and defects in related technologies, the embodiments of the present application propose a railway loading vehicle guidance method, system and device, which installs a laser radar on the longitudinal axis centerline of the bottom of the vehicle to be loaded to scan the reflective marking line at the centerline of the railway flatbed, calculates the edge alignment angle parameter and displacement deviation parameter, and provides real-time position feedback to the driver to ensure that the vehicle to be loaded is accurately docked, effectively improves the loading accuracy, reduces the uncertainty caused by manual intervention, and enhances the safety and efficiency of the operation. In addition, the embodiments of the present application not only improve the automation and applicability of railway loading vehicle guidance technology, but also reduce complexity and cost, optimize the railway transportation process, and are applicable to a variety of vehicle models and flatbed combinations, providing an efficient and safe technical solution for railway loading.

[0032] First, the implementation steps of the railway loading vehicle guiding method provided by the embodiment of the present application will be described in detail below with reference to the accompanying drawings.

[0033] The railway loading vehicle guidance method proposed in the embodiment of the present application can be applied to an embedded terminal, a server, or software running in a terminal or a server. The terminal can be a tablet computer, a laptop computer, a desktop computer, etc., but is not limited thereto. The server can be an independent physical server, or a server cluster or distributed system composed of multiple physical servers, or a cloud server that provides basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communications, middleware services, domain name services, security services, content distribution networks, and big data and artificial intelligence platforms.

[0034] Reference Figure 1 The implementation process of the railway loading vehicle guidance method provided in the embodiment of the present application includes but is not limited to the following steps.

[0035] Step 101, control the laser radar to use a preset scanning frequency and a frustum scanning mode to scan the reflective marking line set on the railway flat plate, and obtain reflection distance parameters and reflection intensity parameters as laser signal parameters.

[0036] It should be noted that the frustum scanning mode is a laser radar scanning technology that forms a frustum-shaped scanning path by rotating the laser pulse emitted by the laser radar around an axis. This mode mainly achieves 360-degree full coverage in the horizontal direction and is concentrated within a certain height range, so that the collected data points are concentrated in the same height layer, simplifying the data processing process, reducing the calculation complexity, and improving real-time performance and response speed.

[0037] The reflection distance parameter refers to half of the total distance from the laser radar emission point to the surface of the target object and then back to the receiver (i.e., one-way distance). It reflects the actual spatial distance between the laser radar and the target object. The laser radar determines the reflection distance by measuring the round-trip time of the laser pulse (Time of Flight, ToF) or the phase difference method.

[0038] Specifically, the principle of the ToF method is that the laser radar emits a short pulse laser. When the laser pulse encounters the surface of an object, it is reflected back and captured by the laser radar. Then, by calculating the time difference between emission and reception and combining it with the speed of light, the reflected distance can be obtained. The principle of the phase difference method is that the laser radar emits a continuous modulated wave and calculates the distance based on the phase difference between the reflected wave and the transmitted wave. This method is suitable for shorter distances and has higher accuracy.

[0039] The reflection intensity parameter refers to the intensity of the received reflected laser signal, usually expressed as a voltage or digital value. The measurement principle of the reflection intensity parameter is that the laser radar converts the received light signal into an electrical signal, and after amplification, filtering and other processing, the reflection intensity value is recorded. These values ​​can be used to distinguish different material types or identify specific marking surfaces.

[0040] Factors affecting the reflection intensity parameters include the material properties of the target object surface, the surface condition of the target object, and the angle effect. Specifically, different materials have different reflectivities. For example, metals, plastics, rubber and other materials have significantly different reflection intensities for the same wavelength laser. Smooth surfaces reflect more strongly than rough surfaces; cleanliness also affects reflection intensity. Different incident and reflection angles will result in changes in reflection intensity, and vertical incidence usually produces the strongest reflection signal.

[0041] In step 101, the reflective marking line on the railway flat plate is scanned by controlling the laser radar to adopt a preset scanning frequency and a frustum scanning mode, and a reflection distance parameter and a reflection intensity parameter are obtained as laser signal parameters. The reflection distance parameter is used to determine the actual relative position between the vehicle to be loaded and the reflective marking line, and is one of the basic data for calculating the displacement deviation parameter of the vehicle to be loaded. The reflection intensity parameter reflects the reflection characteristics of the surface material of the target object to the laser, and is an important data basis for identifying the position of the reflective marking line.

[0042] Optionally, the reflective marking line uses a reflective sticker material with high reflectivity to enhance signal reflection and improve detection accuracy.

[0043] Step 102: Obtain edge reflection parameters and edge alignment angle parameters according to laser signal parameters in combination with an edge alignment detection method.

[0044] It should be noted that the edge reflection parameter refers to the laser signal parameter reflected when the laser pulse emitted by the laser radar hits the edge of the reflective marking line. The edge alignment angle parameter refers to the angle between the laser radar's emission direction and the longitudinal centerline of the bottom of the vehicle to be loaded in the plane based on the railway flatbed when the laser pulse emitted by the laser radar hits the edge of the reflective marking line.

[0045] In step 102, after the laser signal parameters are obtained, the edge alignment detection method can be used to identify the laser signal parameters reflected when the laser pulse emitted by the laser radar irradiates the edge of the reflective marking line, and obtain the edge reflection parameters. In addition, the angle formed by the emission direction of the laser radar and the longitudinal axis centerline of the bottom of the vehicle to be loaded in the plane based on the railway flatbed is calculated, that is, the edge alignment angle parameter, which provides the necessary geometric information for the next step of calculation, so that the system can more accurately determine the position deviation of the vehicle.

[0046] Step 103, according to the edge reflection parameter and the edge alignment angle parameter, in combination with the offset measurement method, the displacement deviation parameter of the vehicle to be loaded relative to the reflective marking line is obtained.

[0047] In step 103, based on the edge reflection parameters and edge alignment angle parameters obtained in the previous step, the actual offset of the vehicle to be loaded relative to the reflective marking line, i.e., the displacement deviation parameter, can be further accurately located by using the offset measurement method. The purpose of this step is to quantify the difference between the current position of the vehicle to be loaded and the reflective marking line, and provide a specific numerical basis for the final adjustment. This precise deviation measurement is the key to achieving efficient and safe loading.

[0048] Step 104, controlling the vehicle to be loaded to move onto the railway flat car according to the displacement deviation parameter.

[0049] In step 104, the vehicle to be loaded is guided to make corresponding adjustments according to the previously calculated displacement deviation parameters until it stops accurately on the railway flatbed, ensuring that the vehicle to be loaded can be parked at the expected position, improving loading efficiency, reducing risks caused by inaccurate positioning, and enhancing the safety of the entire transportation process.

[0050] In summary, the above four steps, from data collection, processing to final action execution, have achieved high-precision, automated railway vehicle loading operations. This method effectively improves the efficiency and safety of loading work, while also reducing the need for manual intervention, and is applicable to various types of vehicles and flatbed combinations.

[0051] In some embodiments of the present application, the reflective identification line is arranged on the longitudinal center line of the railway slab.

[0052] First, the longitudinal centerline of the railway slab provides clear and stable position information, ensuring that the vehicle to be loaded can be parked accurately in the center of the railway slab, avoiding safety hazards and transportation problems caused by offset. Secondly, by laying reflective marking lines along the longitudinal centerline of the railway slab in a straight line determined by two points, the installation and calibration process is simplified, complex positioning operations are reduced, the possibility of errors is reduced, and time and costs are saved. In addition, the position of the longitudinal centerline of the railway slab is not easily affected by external environmental factors, ensuring the consistency and reliability of each measurement.

[0053] In some embodiments of the present application, in step 101, the laser radar is controlled to use a preset scanning frequency and a frustum scanning mode to scan the reflective marking lines set on the railway flat plate, and the process of obtaining the reflection distance parameters and the reflection intensity parameters as the laser signal parameters includes but is not limited to the following steps.

[0054] Step 201, control the laser radar's transmitting device to use a preset scanning frequency and frustum scanning mode to scan the reflective marking line.

[0055] In step 201, the laser radar transmitter is controlled to use a preset scanning frequency and a frustum scanning mode to scan the reflective marking line to obtain as many data points as possible. The preset scanning frequency ensures the stability and consistency of data acquisition, while the frustum scanning mode ensures that even if the vehicle position deviates, the complete reflective marking line information can be captured. In this way, the system can obtain high-density and high-precision laser pulse reflection data, providing sufficient information basis for subsequent distance and intensity parameter calculations.

[0056] Step 202, using a receiving device of the laser radar to receive a laser signal reflected from the reflective marking line to obtain an initial laser signal.

[0057] In step 202, an initial laser signal is formed by capturing the laser pulse reflected by the reflective marking line. The receiving device usually includes a highly sensitive photodetector, such as an avalanche photodiode, which can convert weak optical signals into electrical signals. The received reflected signal contains information about the position of the reflecting surface and the laser reflection intensity information, which is very important for subsequent processing. In addition, by receiving the reflected signal, the system can determine whether the laser successfully hits the target and the specific location of the target.

[0058] Step 203, using the laser radar's modulation and demodulation device to perform signal processing on the initial laser signal parameters, and obtain reflection distance parameters and reflection intensity parameters as laser signal parameters.

[0059] In step 203, a series of complex processing operations are performed on the captured initial laser signal, including but not limited to filtering, amplification, digitization, etc., with the ultimate goal of extracting useful physical quantities, namely, reflection distance parameters and reflection intensity parameters, from the original signal. After such processing, the laser radar can output accurate and reliable distance and reflection intensity data.

[0060] Therefore, in the above three steps, from data collection to preliminary processing, it is ensured that the lidar can accurately obtain key information about the reflective marking lines, providing the necessary prerequisite for subsequent deviation identification and guidance.

[0061] In some embodiments of the present application, in step 102, the implementation process of obtaining edge reflection parameters and edge alignment angle parameters based on laser signal parameters in combination with an edge alignment detection method includes but is not limited to the following steps.

[0062] Step 301, obtaining edge reflection intensity parameters according to laser signal parameters in combination with an edge alignment detection method.

[0063] It should be noted that the edge reflection intensity parameter refers to the intensity parameter of the laser signal reflected when the laser pulse emitted by the laser radar irradiates the edge of the reflective marking line.

[0064] Step 301, in combination with the edge alignment detection method, the laser signal intensity parameter reflected when the laser pulse emitted by the laser radar irradiates the edge of the reflective marking line is screened to obtain the edge reflection intensity parameter. This step ensures that the subsequent calculation is based on high-quality and reliable reflection data, rather than background noise or reflections of other non-target objects. By performing edge alignment detection on the reflection signal intensity, low-quality or irrelevant reflection signals can be excluded, thereby effectively improving positioning accuracy.

[0065] Optionally, the edge alignment detection method includes a peak detection method and a threshold detection method.

[0066] The peak detection method determines whether the laser pulse emitted by the LiDAR hits the edge of the reflective marking line by identifying the peak value of the reflected signal intensity. When the LiDAR rotates and scans, the system records the reflected signal intensity at different angles, constructs a curve of the reflection intensity changing with the angle, and finds the peak point of the reflection intensity through an algorithm. The angle at this time is the edge alignment angle parameter.

[0067] The threshold detection method determines whether the laser pulse emitted by the laser radar hits the edge of the reflective marking line by setting a reasonable range of reflected signal intensity. The laser radar continuously monitors the reflected signal intensity during rotation. Once it exceeds the preset range, the system considers that the laser pulse emitted by the laser radar hits the edge of the reflective marking line. This method does not require complex algorithm processing and has a fast response. It not only meets the needs of real-time measurement, but is also suitable for a variety of working environments. It performs well in particular when there is no debris on the surface of the railway flatbed and the reflection characteristics are relatively consistent. It can efficiently complete the initial screening and rapid positioning tasks, and provide reliable initial data for subsequent precise measurements.

[0068] Step 302: Based on the laser signal parameter, a reflection distance parameter corresponding to the edge reflection intensity parameter is used as the edge reflection distance parameter.

[0069] It should be noted that the edge reflection intensity parameter and the edge reflection distance parameter are used as edge reflection parameters.

[0070] In step 302, the screened edge reflection intensity parameters are matched with the corresponding reflection distance parameters to form complete and effective edge reflection parameters. This step ensures that the edge reflection intensity parameters can reflect the actual distance between the reflection point on the reflective marking line and the laser radar when the laser pulse emitted by the laser radar irradiates the edge of the reflective marking line, so as to more accurately determine the displacement deviation parameters of the vehicle to be loaded relative to the reflective marking line.

[0071] Step 303, determine the emission direction of the laser radar and obtain the emission angle parameter.

[0072] In step 303, the emission direction of the laser radar is determined to obtain the emission angle parameter, which records the angle of the laser radar relative to the fixed reference system (i.e., the longitudinal centerline of the bottom of the vehicle to be loaded) each time the laser pulse is emitted. This parameter is crucial for calculating the position of the actual irradiation point because it directly affects the specific position where the laser beam intersects with the reflective marking line. By accurately measuring the angle of each emission, it can be ensured that the spatial coordinates of the reflection point can be accurately mapped in subsequent calculations, thereby improving the measurement accuracy of the entire system. In addition, the determination of the emission angle also helps to correct minor deviations caused by mechanical installation errors or environmental vibrations, ensuring long-term stable operation of the system.

[0073] Step 304: Obtain edge alignment angle parameters according to edge reflection parameters and emission angle parameters.

[0074] In step 304, the edge reflection parameter and the emission angle parameter are combined to determine the position of the reflective marking line and calculate the edge alignment angle parameter. This angle is a key indicator for determining whether the vehicle to be loaded is accurately aligned, and it directly reflects the relative position of the vehicle to be loaded relative to the reflective marking line.

[0075] In some embodiments of the present application, the deviation measurement method includes a circular trajectory measurement method.

[0076] In the railway loading vehicle guidance application, the circular trajectory measurement method sets the laser pulse emitted by the laser radar to project onto the surface of the railway flat plate to form a circular trajectory, combined with the edge alignment detection method to achieve high-precision position measurement. The laser radar continuously emits and receives reflected signals during rotation, and records the reflection intensity and distance parameters at each angle. By screening the edge reflection parameters, the system can accurately calculate the offset distance of the vehicle to be loaded. The circular trajectory design increases the number of data points, improves the statistical reliability of the measurement results, and simplifies the geometric calculation process. This method not only enhances the adaptability and robustness of the system, ensuring stable operation in complex environments, but also supports continuous monitoring and dynamic adjustment, which is easy for calibration and maintenance. Ultimately, the circular running trajectory measurement method provides reliable technical support for accurately positioning the vehicle relative to the reflective marking line, ensuring efficient and safe loading operations.

[0077] Optionally, the circular trajectory measurement method satisfies the following formula (1): (1); In formula (1), is the displacement deviation parameter obtained based on the circular trajectory measurement method, It represents the radius length of the circular trajectory of the laser pulse emitted by the laser radar in the plane based on the railway slab. Represents the edge alignment angle parameter.

[0078] In some embodiments of the present application, the deviation measurement method includes an elliptical trajectory measurement method.

[0079] In the application of railway loading vehicle guidance, the elliptical trajectory measurement method sets the laser radar to rotate at a specific angular velocity, and the trajectory of the emitted laser pulse projected on the surface of the railway flat plate is an ellipse, covering a wider area, ensuring that the reflective marking line is irradiated multiple times. The system records the reflection intensity and distance parameters at each angle in real time, and screens out the edge reflection parameters to accurately calculate the angle between the laser radar emission direction and the longitudinal axis centerline of the bottom of the vehicle to be loaded. The elliptical trajectory design increases the number of data points and improves the statistical reliability of the measurement results. It is suitable for the situation where the plane where the laser radar is installed at the bottom of the vehicle is not completely parallel to the railway flat plate, meeting the requirements of high-precision measurement. This method not only enhances the adaptability and robustness of the system, ensures stable operation in complex environments, and improves the guidance accuracy, but also supports continuous monitoring and dynamic adjustment, which is easy to calibrate and maintain. Finally, the elliptical trajectory measurement method provides high-precision technical support for accurately locating the displacement deviation parameters of the vehicle relative to the reflective marking line, ensuring efficient, safe and accurate loading operations.

[0080] Optionally, the elliptical trajectory measurement method satisfies the following formula (2): (2); In formula (2), is the displacement deviation parameter obtained based on the elliptical trajectory measurement method, It represents the length of the major semi-axis of the elliptical trajectory of the laser pulse emitted by the laser radar in the plane based on the railway slab. It represents the length of the minor semi-axis of the elliptical trajectory of the laser pulse emitted by the laser radar in the plane based on the railway slab. Represents the edge alignment angle parameter.

[0081] In some embodiments of the present application, the offset measurement method includes a direct ranging method.

[0082] In the railway loading vehicle guidance application, the direct distance measurement method realizes high-precision position detection based on the reflection distance parameter. This method can provide the specific offset of the vehicle to be loaded relative to the reflective marking line in real time, without the need to measure the radius length of the circular running track of the laser pulse emitted by the laser radar in advance, nor the major and minor semi-axis lengths of the elliptical running track of the laser pulse emitted by the laser radar. Moreover, this method is suitable for different types of vehicle and flatbed combinations, and performs well in situations where the preliminary preparation work is insufficient and time is urgent.

[0083] Optionally, the direct ranging method satisfies the following formula (3): (3): In formula (3), is the displacement deviation parameter obtained based on the direct distance measurement method, Indicates the fixed tilt angle of the laser radar's transmitting device, Indicates the edge reflection distance parameter in the edge reflection parameter. Represents the edge alignment angle parameter.

[0084] In some embodiments of the present application, the edge alignment angle parameters include the front left deviation angle of the front wheel, the rear right deviation angle of the front wheel, the front left deviation angle of the rear wheel and the rear right deviation angle of the rear wheel; the displacement deviation parameters include the front wheel offset value and the rear wheel offset value; in step 103, based on the edge reflection parameters and the edge alignment angle parameters, combined with the offset measurement method, the implementation process of obtaining the displacement deviation parameters of the vehicle to be loaded relative to the reflective marking line includes but is not limited to the following steps.

[0085] Step 401, obtaining the front wheel left deviation value according to the edge reflection parameter and the front wheel left deviation angle in combination with the offset measurement method.

[0086] It should be noted that, since the reflective marking line has a left edge and a right edge, the laser radar located at the center line of the front wheel will generate four front wheel centerline deviation angles each time it rotates, including the front left deviation angle of the front wheel, the front right deviation angle of the front wheel, the rear left deviation angle of the front wheel, and the rear right deviation angle of the front wheel. In the actual data processing process, in order to improve the calculation speed, usually only the front left deviation angle of the front wheel and the rear right deviation angle of the front wheel are taken as the edge alignment angle parameters of the front wheel, which can reduce the amount of calculation while maintaining sufficient accuracy. Similarly, the rear wheel front left deviation angle and the rear right deviation angle of the rear wheel are selected from the four rear wheel centerline deviation angles as the edge alignment angle parameters of the rear wheel.

[0087] In step 401, the front wheel left deviation value is obtained according to the edge reflection parameter and the front wheel front left deviation angle in combination with the offset measurement method, which provides a data basis for the subsequent calculation of the front wheel offset value of the vehicle to be loaded.

[0088] Step 402, obtaining the front wheel right deviation value according to the edge reflection parameter and the front wheel rear right deviation angle in combination with the offset measurement method.

[0089] In step 402, the front wheel right deviation value is obtained according to the edge reflection parameter and the front wheel rear right deviation angle in combination with the deviation measurement method, which provides a data basis for the subsequent calculation of the front wheel deviation value of the vehicle to be loaded.

[0090] Step 403, obtaining the rear wheel left deviation value according to the edge reflection parameter and the rear wheel front left deviation angle in combination with the offset measurement method.

[0091] In step 403, the rear wheel left deviation value is obtained according to the edge reflection parameter and the rear wheel front left deviation angle in combination with the offset measurement method, which provides a data basis for the subsequent calculation of the rear wheel offset value of the vehicle to be loaded.

[0092] Step 404, obtaining the rear wheel right deviation value according to the edge reflection parameter and the rear wheel right deviation angle in combination with the offset measurement method.

[0093] In step 404, the rear wheel right deviation value is obtained based on the edge reflection parameter and the rear wheel rear right deviation angle in combination with the offset measurement method, providing a data basis for the subsequent calculation of the rear wheel offset value of the vehicle to be loaded.

[0094] Step 405, calculate the average of the front wheel left deviation value and the front wheel right deviation value to obtain the front wheel offset value.

[0095] In step 405, the front wheel offset value is obtained by calculating the average of the front wheel left deviation value and the front wheel right deviation value, thereby reducing the error that may be caused by unilateral measurement and improving the accuracy of front wheel position assessment. The complex multi-point measurement results are simplified into a comprehensive offset value, which is convenient for subsequent operation guidance and adjustment.

[0096] Step 406, calculate the average of the rear wheel left deviation value and the rear wheel right deviation value to obtain the rear wheel offset value.

[0097] In step 406, the rear wheel offset value is obtained by calculating the average of the rear wheel left deviation value and the rear wheel right deviation value, thereby reducing the error caused by unilateral measurement and improving the accuracy of rear wheel position assessment. Combined with the front wheel offset value, the complete position information of the vehicle relative to the reflective marking line is provided, ensuring that the vehicle to be loaded can be accurately parked on the railway flat car.

[0098] Secondly, refer to Figure 2 , an embodiment of the present application provides a railway loading vehicle guidance system, including: a laser scanning module 501, an alignment detection module 502, an offset measurement module 503 and an interactive control module 504.

[0099] The laser scanning module 501 is used to control the laser radar to use a preset scanning frequency and a frustum scanning mode to scan the reflective marking lines set on the railway flat plate, and obtain reflection distance parameters and reflection intensity parameters as laser signal parameters.

[0100] The alignment detection module 502 is used to obtain edge reflection parameters and edge alignment angle parameters according to laser signal parameters in combination with edge alignment detection methods. The edge reflection parameters refer to the laser signal parameters reflected when the laser pulse emitted by the laser radar irradiates the edge of the reflective marking line. The edge alignment angle parameter refers to the angle between the emission direction of the laser radar and the longitudinal axis centerline of the bottom of the vehicle to be loaded in a plane based on the railway flatbed when the laser pulse emitted by the laser radar irradiates the edge of the reflective marking line.

[0101] The offset measurement module 503 obtains the displacement deviation parameter of the vehicle to be loaded relative to the reflective marking line according to the edge reflection parameter and the edge alignment angle parameter in combination with the offset measurement method.

[0102] The interactive control module 504 is used to control the vehicle to be loaded to move onto the railway flat car according to the displacement deviation parameter.

[0103] Furthermore, an embodiment of the present application provides a railway loading vehicle guidance device, including: a laser radar, a computing device and an interactive display device.

[0104] The laser radar is installed at the center line of the longitudinal axis of the bottom of the vehicle to be loaded by strong magnetic attraction.

[0105] The laser radar includes a laser transmitting and receiving module, a single-chip microcomputer and a motor.

[0106] The laser transmitting and receiving module includes a transmitting device, a receiving device and a modulation and demodulation device.

[0107] Set the 0 degree launching direction and 180 degree launching direction of the launching device to be aligned with the longitudinal axis centerline of the bottom of the vehicle to be loaded; The laser transmitting and receiving module is used to scan the reflective marking line set on the railway flat plate using a preset scanning frequency and a frustum scanning mode, and obtain reflection distance parameters and reflection intensity parameters as laser signal parameters.

[0108] The single chip microcomputer is used to control the motor to drive the laser transmitting and receiving module to rotate; The single chip microcomputer is also used to obtain edge reflection parameters and edge alignment angle parameters according to the laser signal parameters in combination with the edge alignment detection method. The edge reflection parameters refer to the laser signal parameters reflected when the laser pulse emitted by the laser radar irradiates the edge of the reflective marking line. The edge alignment angle parameter refers to the angle between the emission direction of the laser radar and the longitudinal axis centerline of the bottom of the vehicle to be loaded in the plane based on the railway flatbed when the laser pulse emitted by the laser radar irradiates the edge of the reflective marking line.

[0109] The computing device is used to obtain the displacement deviation parameter of the vehicle to be loaded relative to the reflective marking line according to the edge reflection parameter and the edge alignment angle parameter in combination with the offset measurement method.

[0110] The interactive display device is used to control the movement of the vehicle to be loaded onto the railway flat car according to the displacement deviation parameters.

[0111] The implementation of the railway loading vehicle guiding device proposed in the embodiment of the present application will be described in detail below.

[0112] First, the preparation work for railway loading vehicle guidance includes the following steps.

[0113] Step 1: Maintain the original vehicle loading mode of the vehicles to be loaded, ensure that the existing loading process is not changed, maintain operating habits, and reduce training costs. The flatbed tail end is used to drive the vehicles to park in sequence, which is convenient for multiple vehicles to be loaded to operate continuously.

[0114] Step 2: Place a 1 cm wide reflective tape along the center line of the flat plate to enhance the reflection of the LiDAR signal and ensure measurement accuracy. The reflective tape is used as a reflective marking line for precise alignment.

[0115] Step 3. Install the laser radar and set the initial parameters of the laser radar. First, install the two laser radars at the center line of the front wheel longitudinal axis and the center line of the rear wheel longitudinal axis at the bottom of the vehicle to be loaded by strong magnetic attraction. Secondly, set the scanning frequency of the laser radar and set the laser radar to use the frustum scanning mode. Then set the laser pulse emitted by each laser radar to project onto the surface of the railway flatbed to form a circular trajectory. Furthermore, for each laser radar, measure the radius length of the circular running trajectory of the laser pulse emitted by the laser radar , and enter and save on the interactive display device Then, set the 0-degree emission direction and 180-degree emission direction of the laser radar's emitting device to be aligned with the longitudinal axis centerline of the bottom of the vehicle to be loaded, and set the 0-degree emission direction of the laser radar's emitting device to point to the forward direction of the vehicle to be loaded. Then set the laser radar's rotation direction to be clockwise.

[0116] Optionally, scanning in a truncated cone scanning mode means that by fixing the inclination angle of the laser transmitting and receiving module in the vertical direction, it is scanned at a set angle to form a scanning path similar to a truncated cone. Specifically, a motor is used to drive the laser transmitting and receiving module to achieve 360-degree full coverage scanning in the horizontal direction, while maintaining a fixed inclination angle to ensure that the scanning path presents a structure with a geometric shape similar to a truncated cone. The upper bottom surface is circular, while the lower bottom surface can be circular or elliptical depending on the installation situation, and the side surface is composed of a curved surface formed by the oblique projection of the laser pulse. This design gives the truncated cone scanning mode multiple characteristics. First, in the horizontal direction, it can achieve 360-degree full coverage, effectively reducing blind spots; secondly, in the vertical direction, the scanning angle can be flexibly adjusted according to the chassis height of the vehicle to be loaded, increasing the detection range and thus improving the perception ability. In addition, the scanning path of the truncated cone scanning mode is relatively regular, and the scanned spatial area is relatively fixed, which makes the data more regular and convenient for subsequent processing and analysis.

[0117] Step 4: Further adjust the laser emission power of the laser radar so that the laser radar sends information to the computing device only when it receives the laser signal reflected back by the reflective sticker, thereby being able to accurately identify the reflective sticker.

[0118] Optionally, the laser transmission power of the laser radar is adjusted according to the material and color of different materials. Specifically, for the railway flat wood with low reflective intensity, the system requires a higher transmission power to detect the reflected signal. Therefore, the initial voltage is set to 3V, and then the transmission power is gradually reduced. When the transmission power is reduced to 2V, the signal reflected by the white paper can be detected. When the transmission power is reduced to 1.5V, the reflected signal of the reflective sticker can still be detected. Therefore, in order to further improve the recognition accuracy and avoid false triggering, the transmission power is fine-tuned to slightly above 1.5V (for example, 1.6V). This setting ensures that the system will not be interfered by other non-target objects on the cleaned flat plate, because the reflective intensity of these objects is usually lower than that of the reflective sticker. In addition, considering the changes in weather brightness, the transmission power of the laser radar can be adjusted according to the ambient light to ensure that the reflected signal can be stably received under any conditions. For different models of vehicles to be loaded, due to the different heights of the chassis, the laser power also needs to be appropriately adjusted to adapt to more models to ensure that the reflective marking line can be accurately identified based on different installation heights.

[0119] Secondly, scanning and edge alignment detection are performed. Specifically, the single chip microcomputer is used to control the motor to drive the laser transmitting and receiving module to rotate. Figure 3 , the laser transmitting and receiving module is controlled to use the preset scanning frequency and frustum scanning mode to scan the reflective marking line set on the railway flat plate, and the reflection distance parameter and reflection intensity parameter are obtained as the laser signal parameter. Using the single chip microcomputer, according to the laser signal parameter, combined with the alignment detection method, the edge reflection parameter and edge alignment angle parameter are obtained.

[0120] Optionally, the data transmission between the laser transmitting and receiving module of the laser radar and the single-chip microcomputer adopts a wired transmission method, and the laser transmitting and receiving module and the single-chip microcomputer are connected using a conductive slip ring. The conductive slip ring can stably and reliably establish an electrical connection between the two, avoiding signal interruption or instability caused by line entanglement and pulling due to rotational motion, and effectively improving the reliability and stability of the entire system operation.

[0121] Optionally, wireless transmission is used between the laser radar and the computing device, and wireless methods such as infrared are used for signal transmission to achieve flexibility and convenience in equipment installation. Wireless transmission not only reduces the complexity of the mechanical structure, but also reduces the wiring requirements and reduces the volume structure of the laser radar, which is suitable for application scenarios that require rapid deployment and strong mobility.

[0122] Furthermore, the computing device is used to obtain the displacement deviation parameter of the vehicle to be loaded based on the edge alignment angle parameter and the circular trajectory measurement method. Specifically, the computing device first filters, stores and calculates the received data to remove noise interference and improve data quality, and then obtains the displacement deviation parameter of the vehicle to be loaded based on the processed data and the circular trajectory measurement method.

[0123] Reference Figure 4 , Indicates the center line of the railway slab, Indicates the reflective sticker at the longitudinal centerline of the bottom of the vehicle to be loaded. represents the circular trajectory of the laser pulses emitted by the laser radar installed at the center line of the front wheels of the vehicle to be loaded, Represents the circular trajectory of laser pulses emitted by a lidar installed at the center line of the rear wheels of the vehicle to be loaded.

[0124] Since the reflective marking line has a left edge and a right edge, the laser radar located at the center line of the front wheel will generate four front wheel center line deviation angles each time it rotates, including the front left deviation angle, the front right deviation angle, the front left deviation angle, and the front right deviation angle. In the actual data processing process, in order to improve the calculation speed, usually only the front left deviation angle of the front wheel is taken. and front wheel rear right deviation angle As the edge alignment angle parameter of the front wheel, this can reduce the amount of calculation while maintaining sufficient accuracy.

[0125] Similarly, select the rear wheel front left deviation angle from the four rear wheel centerline deviation angles and rear right deviation angle of rear wheel Parameter used as the edge alignment angle of the rear wheel.

[0126] Since the 0-degree and 180-degree emission directions of the laser radar's transmitting device are set to be aligned with the longitudinal centerline of the bottom of the vehicle to be loaded, and the laser radar is set to scan the reflective stickers in a frustum scanning mode to achieve 360-degree coverage, in order to simplify the calculation and directly reflect the displacement deviation parameters of the vehicle to be loaded, the calculation device uses the characteristics of the sine function to perform the calculation.

[0127] From the characteristics of the sine function, we can see that for the angle , if the angle When the angle is greater than 0 degrees and less than 180 degrees, The corresponding sine function value is positive; if the angle Greater than 180 degrees and less than 360 degrees, then the angle The corresponding sine function value is negative. In addition, the characteristics of the sine function also include symmetry, that is, .

[0128] Therefore, according to , , and , combined with formula (1), the left deviation of the front wheel is calculated , front wheel right deviation value , Rear wheel left deviation and rear wheel right deviation . Calculate the average of the front wheel left deviation value and the front wheel right deviation value to obtain the front wheel offset value of the vehicle to be loaded. When the front wheel offset value is a negative value, it means that the front wheel of the vehicle to be loaded is deviated to the right; when the front wheel offset value is a positive value, it means that the front wheel of the vehicle to be loaded is deviated to the left. Calculate the average of the rear wheel left deviation value and the rear wheel right deviation value to obtain the rear wheel offset value of the vehicle to be loaded. When the rear wheel offset value is a negative value, it means that the rear wheel of the vehicle to be loaded is deviated to the right; when the rear wheel offset value is a positive value, it means that the rear wheel of the vehicle to be loaded is deviated to the left. This simplified processing is equivalent to measuring the displacement deviation parameter of the longitudinal axis centerline of the bottom of the vehicle to be loaded relative to the centerline of the reflective tape (i.e. 0.5 cm away from the edge of the reflective tape).

[0129] Then, error calibration is performed. The actual offset value of the vehicle to be loaded relative to the reflective tape is measured by a measuring instrument, and the error between the actual radius length of the circular running track and the pre-measured radius length of the circular running track is deduced, and the error is controlled within a certain range, thereby improving the accuracy and safety of vehicle loading and meeting the high standards of railway loading and unloading transportation scenarios.

[0130] Finally, comprehensive application and optimization are carried out. The interactive display device uses dynamic graphics to intuitively present the displacement deviation of the vehicle to be loaded, and specifically displays the front wheel offset value and rear wheel offset value of the vehicle to be loaded. Therefore, the driver can intuitively understand the position status of the vehicle to be loaded relative to the railway flat car and make adjustments in time, which improves the convenience and accuracy of the loading operation and reduces the loading deviation and time waste caused by the driver's inaccurate position judgment.

[0131] Reference Figure 5 In the process of controlling the vehicle to be loaded to move to the railway flat car, the railway loading vehicle guide device continuously measures the displacement deviation parameter of the vehicle to be loaded, and obtains a scatter plot of the displacement deviation parameter. It can be seen that the displacement deviation parameter of the vehicle to be loaded is -2 cm when it starts. The driver adjusts the position of the vehicle to be loaded according to the displacement deviation parameter of the vehicle to be loaded presented in real time on the interactive display device and the dynamic graphical displacement deviation situation, and finally makes the displacement deviation parameter of the vehicle to be loaded close to 1 cm.

[0132] In summary, the embodiments of the present application provide the following technical effects.

[0133] The embodiments of the present application provide an effective improvement in the accuracy and efficiency of loading operations. By adopting advanced technical means such as laser radar scanning, edge alignment detection and offset measurement, the system can accurately measure and feedback the position deviation of the vehicle relative to the center line of the railway flatbed in real time. Using offset measurement methods such as circular trajectory measurement, elliptical trajectory measurement or direct distance measurement, the displacement deviation parameters of the vehicle to be loaded are accurately calculated to ensure that the vehicle is accurately docked, which greatly shortens the loading time, reduces the uncertainty caused by manual intervention, and improves the overall transportation efficiency. It is suitable for special vehicles and flatbed combinations with high-precision positioning requirements. In addition, the embodiments of the present application enhance the safety of the loading process, provide drivers with intuitive position information and adjustment guidance, help them control the vehicle position more accurately, and avoid risks caused by inaccurate loading, such as rollover accidents. The system has an automatic calibration function, supports calibration with standard quantities of measuring instruments, and tries to control the measurement error within an acceptable range, thereby further ensuring the safety and reliability of the loading operation.

[0134] The design of the embodiment of the present application is suitable for a variety of vehicle models and flat panel combinations, and has wide applicability and strong adaptability. Whether it is a small vehicle or a large engineering vehicle, the system can be installed and used conveniently and quickly, and its position deviation relative to the flat panel can be accurately measured. The system adopts a convenient installation method, such as the overall strong magnetic attraction of the laser radar installed on the center line of the longitudinal axis at the bottom of the vehicle, which simplifies the installation process, reduces installation time and labor costs, and does not require large-scale modification of the vehicle or the use of special tools and sites. By improving loading efficiency and reducing manual participation, the embodiment of the present application effectively reduces operating costs, which not only saves manpower and time resources, but also reduces potential losses and maintenance costs caused by improper loading. The simple and easy-to-use design makes maintenance more convenient, further reducing the cost burden of long-term operations.

[0135] In some optional embodiments, the function / operation mentioned in the block diagram may not occur in the order mentioned in the operation schematic diagram. For example, depending on the function / operation involved, the two boxes shown in succession can actually be executed substantially simultaneously or the boxes can sometimes be executed in reverse order. In addition, the embodiment presented and described in the flow chart of the application is provided by way of example, for the purpose of providing a more comprehensive understanding of the technology. The disclosed method is not limited to the operation and logic flow presented herein. The optional embodiment is expected, wherein the order of various operations is changed and the sub-operation of a part of the larger operation is wherein described is performed independently.

[0136] In addition, although the present application is described in the context of functional modules, it should be understood that, unless otherwise specified, one or more of the functions and / or features can be integrated into a single physical device and / or software module, or one or more functions and / or features can be implemented in a separate physical device or software module. It can also be understood that a detailed discussion of the actual implementation of each module is unnecessary for understanding the present application. More specifically, in view of the properties, functions and internal relationships of the various functional modules in the devices disclosed herein, the actual implementation of the module will be understood within the conventional techniques of engineers. Therefore, those skilled in the art can implement the present application as set forth in the claims using ordinary techniques. It can also be understood that the specific concepts disclosed are merely illustrative and are not intended to limit the scope of the present application, which is determined by the full scope of the attached claims and their equivalents.

[0137] If the function is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several programs to enable a computer device (which can be a personal computer, server, or network device, etc.) to perform all or part of the steps of the various embodiments of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk and other media that can store program codes.

[0138] The logic and / or steps represented in the flowchart or otherwise described herein, for example, may be considered as an ordered list of executable programs for implementing logical functions, and may be embodied in any computer-readable medium for use by a program execution system, device or apparatus (such as a computer-based system, a system including a processor, or other system that can fetch and execute a program from a program execution system, device or apparatus), or in conjunction with such program execution system, device or apparatus. For purposes of this specification, a "computer-readable medium" may be any device that can contain, store, communicate, propagate or transmit a program for use by a program execution system, device or apparatus, or in conjunction with such program execution system, device or apparatus.

[0139] More specific examples of computer-readable media (a non-exhaustive list) include the following: an electrical connection with one or more wires (electronic device), a portable computer disk case (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable and programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disk read-only memory (CDROM). In addition, the computer-readable medium may even be a paper or other suitable medium on which the program is printed, since the program may be obtained electronically, for example, by optically scanning the paper or other medium, followed by editing, deciphering or, if necessary, processing in a suitable manner thereof, and then stored in a computer memory.

[0140] It should be understood that the various parts of the present invention can be implemented by hardware, software, firmware or a combination thereof. In the above-mentioned embodiments, a plurality of steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable program execution system. For example, if implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or their combination: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0141] In the above description of this specification, the description with reference to the terms "one embodiment / implementation", "another embodiment / implementation" or "certain embodiments / implementations" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiments or examples are included in the embodiments or examples of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0142] Although the embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the claims and their equivalents.

[0143] The above is a specific description of the preferred implementation of the present invention, but the present invention is not limited to the embodiments. Those skilled in the art may make various equivalent modifications or substitutions without violating the spirit of the present invention. These equivalent modifications or substitutions are all included in the scope defined by the claims of the present invention.

Claims

1. A railway loading vehicle guiding method, characterized in that: The steps include: The laser radar is controlled to use a preset scanning frequency and a frustum scanning mode to scan the reflective marking line set on the railway flat plate, and the reflection distance parameter and the reflection intensity parameter are obtained as the laser signal parameters; According to the laser signal parameters, in combination with the edge alignment detection method, edge reflection parameters and edge alignment angle parameters are obtained; the edge reflection parameters refer to the laser signal parameters reflected when the laser pulse emitted by the laser radar irradiates the edge of the reflective marking line; the edge alignment angle parameter refers to the angle between the emission direction of the laser radar and the longitudinal axis centerline of the bottom of the vehicle to be loaded in a plane based on the railway flatbed when the laser pulse emitted by the laser radar irradiates the edge of the reflective marking line; According to the edge reflection parameter and the edge alignment angle parameter, in combination with an offset measurement method, a displacement deviation parameter of the vehicle to be loaded relative to the reflective marking line is obtained; According to the displacement deviation parameter, the vehicle to be loaded is controlled to move onto the railway flat car.

2. The railway loading vehicle guiding method according to claim 1, characterized in that: The reflective marking line is arranged on the longitudinal center line of the railway slab.

3. The railway loading vehicle guiding method according to claim 1, characterized in that: The control laser radar uses a preset scanning frequency and a frustum scanning mode to scan the reflective marking line set on the railway flat plate, and obtains a reflection distance parameter and a reflection intensity parameter as a laser signal parameter, including: Controlling the emitting device of the laser radar to use a preset scanning frequency and a frustum scanning mode to scan the reflective marking line; Using the receiving device of the laser radar to receive the laser signal reflected from the reflective marking line to obtain an initial laser signal; The initial laser signal parameters are processed by using the modulation and demodulation device of the laser radar to obtain the reflection distance parameter and the reflection intensity parameter as the laser signal parameters.

4. The railway loading vehicle guiding method according to claim 1, characterized in that: The step of obtaining edge reflection parameters and edge alignment angle parameters based on the laser signal parameters in combination with the edge alignment detection method includes: According to the laser signal parameter, in combination with the edge alignment detection method, an edge reflection intensity parameter is obtained; the edge reflection intensity parameter refers to the intensity parameter of the laser signal reflected when the laser pulse emitted by the laser radar irradiates the edge of the reflective marking line; According to the laser signal parameter, taking the reflection distance parameter corresponding to the edge reflection intensity parameter as the edge reflection distance parameter; taking the edge reflection intensity parameter and the edge reflection distance parameter as the edge reflection parameter; Determine the emission direction of the laser radar to obtain an emission angle parameter; The edge alignment angle parameter is obtained according to the edge reflection parameter and the emission angle parameter.

5. The railway loading vehicle guiding method according to claim 1, characterized in that: The offset measurement method includes a circular trajectory measurement method, and the circular trajectory measurement method satisfies the following formula: ； in, is the displacement deviation parameter obtained based on the circular trajectory measurement method, represents the radius length of the circular running track of the laser pulse emitted by the laser radar in the plane based on the railway flatbed, represents the edge alignment angle parameter.

6. The railway loading vehicle guiding method according to claim 1, characterized in that: The offset measurement method includes an ellipse trajectory measurement method, and the ellipse trajectory measurement method satisfies the following formula: ； in, is the displacement deviation parameter obtained based on the elliptical trajectory measurement method, represents the length of the major semi-axis of the elliptical trajectory of the laser pulse emitted by the laser radar in the plane based on the railway flatbed, represents the length of the minor semi-axis of the elliptical trajectory of the laser pulse emitted by the laser radar in the plane based on the railway flatbed, represents the edge alignment angle parameter.

7. The railway loading vehicle guiding method according to claim 1, characterized in that: The offset measurement method includes a direct distance measurement method, and the direct distance measurement method satisfies the following formula: ； in, is the displacement deviation parameter obtained based on the direct distance measurement method, represents the fixed tilt angle of the transmitting device of the laser radar, represents the edge reflection distance parameter in the edge reflection parameter, represents the edge alignment angle parameter.

8. The railway loading vehicle guiding method according to claim 1, characterized in that: The edge alignment angle parameters include the front left deviation angle of the front wheel, the rear right deviation angle of the front wheel, the front left deviation angle of the rear wheel and the rear right deviation angle of the rear wheel; the displacement deviation parameters include the front wheel offset value and the rear wheel offset value; The method of obtaining the displacement deviation parameter of the vehicle to be loaded relative to the reflective marking line according to the edge reflection parameter and the edge alignment angle parameter in combination with an offset measurement method includes: According to the edge reflection parameter and the front left deviation angle of the front wheel, a front wheel left deviation value is obtained in combination with an offset measurement method; According to the edge reflection parameter and the front wheel rear right deviation angle, in combination with an offset measurement method, a front wheel right deviation value is obtained; According to the edge reflection parameter and the rear wheel front left deviation angle, in combination with an offset measurement method, a rear wheel left deviation value is obtained; According to the edge reflection parameter and the rear wheel rear right deviation angle, in combination with an offset measurement method, a rear wheel right deviation value is obtained; Calculate the average of the front wheel left deviation value and the front wheel right deviation value to obtain the front wheel offset value; The average value of the rear wheel left deviation value and the rear wheel right deviation value is calculated to obtain the rear wheel offset value.

9. Railway loading vehicle guidance system, characterized in that: include: Laser scanning module, alignment detection module, offset measurement module and interactive control module; The laser scanning module is used to control the laser radar to use a preset scanning frequency and a frustum scanning mode to scan the reflective marking line set on the railway flat plate, and obtain a reflection distance parameter and a reflection intensity parameter as a laser signal parameter; The alignment detection module is used to obtain edge reflection parameters and edge alignment angle parameters according to the laser signal parameters in combination with the edge alignment detection method; the edge reflection parameters refer to the laser signal parameters reflected when the laser pulse emitted by the laser radar irradiates the edge of the reflective marking line; the edge alignment angle parameter refers to the angle between the emission direction of the laser radar and the longitudinal axis centerline of the bottom of the vehicle to be loaded in the plane based on the railway flatbed when the laser pulse emitted by the laser radar irradiates the edge of the reflective marking line; The offset measurement module is used to obtain a displacement deviation parameter of the vehicle to be loaded relative to the reflective marking line according to the edge reflection parameter and the edge alignment angle parameter in combination with an offset measurement method; The interactive control module is used to control the vehicle to be loaded to move onto the railway flat car according to the displacement deviation parameter.

10. A railway loading vehicle guiding device, characterized in that: include: LiDAR, computing equipment, and interactive display devices; The laser radar is installed at the center line of the longitudinal axis of the bottom of the vehicle to be loaded by means of strong magnetic attraction; The laser radar includes a laser transmitting and receiving module, a single chip microcomputer and a motor; The laser transmitting and receiving module includes a transmitting device, a receiving device and a modulation and demodulation device; Setting the 0 degree launching direction and the 180 degree launching direction of the launching device to be aligned with the longitudinal axis centerline of the bottom of the vehicle to be loaded; The laser transmitting and receiving module is used to scan the reflective marking line set on the railway flat plate using a preset scanning frequency and a frustum scanning mode, and obtain a reflection distance parameter and a reflection intensity parameter as a laser signal parameter; The single chip microcomputer is used to control the motor to drive the laser transmitting and receiving module to rotate; The single chip microcomputer is also used to obtain edge reflection parameters and edge alignment angle parameters according to the laser signal parameters in combination with the edge alignment detection method; the edge reflection parameters refer to the laser signal parameters reflected when the laser pulse emitted by the laser radar irradiates the edge of the reflective marking line; the edge alignment angle parameter refers to the angle between the emission direction of the laser radar and the longitudinal axis centerline of the bottom of the vehicle to be loaded in the plane based on the railway flatbed when the laser pulse emitted by the laser radar irradiates the edge of the reflective marking line; The computing device is used to obtain a displacement deviation parameter of the vehicle to be loaded relative to the reflective marking line according to the edge reflection parameter and the edge alignment angle parameter in combination with an offset measurement method; The interactive display device is used to control the vehicle to be loaded to move onto the railway flat car according to the displacement deviation parameter.

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