Vehicle-mounted self-generating Beidou positioning system and method for railway wagon

Abstract

The invention belongs to the technical field of rail wagon positioning, and discloses a rail wagon vehicle-mounted self-generating Beidou positioning system and method, and the method comprises the steps: fixing the system to a rail wagon through a welding support, and protecting the positioning system through an electronic warehouse; the self-generating equipment performs self-generating and management; the Beidou positioning equipment carries out data acquisition; the state monitoring device obtains real-time data; the main control unit performs intelligent judgment and mode switching; the main control unit carries out data processing and reporting; the wireless communication equipment performs data transmission; the management platform equipment carries out platform processing and feedback; when the truck is in an abnormal state, the alarm device gives out a sound-light alarm. Through the wind kinetic energy power generation module and the axle end power generation module, power generation is achieved through airflow energy and axle rotation mechanical energy generated when a truck runs, and stable energy is provided; the power management module monitors and accurately controls the charging process of the lithium iron phosphate battery pack in real time through the charging control unit, and accurate positioning and comprehensive monitoring of the truck are achieved.

Description

Technical Field

[0001] This application relates to the technical field of railway wagon positioning, and more specifically, to a self-powered Beidou positioning system and method for railway wagons on board. Background Art

[0002] Railway transportation, as an important pillar of the national logistics transportation system, undertakes a large number of cross-regional transportation tasks of materials. In the field of railway freight, the application of railway wagon positioning systems is of great significance. It not only profoundly affects the operation mode of the transportation industry but also plays an irreplaceable role in aspects such as economic development and social stability.

[0003] The prior art document with the publication number CN115097503A provides a wagon positioning terminal based on the Beidou positioning system, including a CPU, a wagon center, a wagon position receiving center, and the Beidou positioning system. The CPU includes a central control module and a dual-band WiFi circuit module. The CPU is connected to the Beidou positioning system, the Beidou positioning system is connected to the wagon position receiving center, and the wagon position receiving center is connected to the wagon center. The invention solution can determine the position of the wagon by setting the wagon center and the wagon position receiving center. At the same time, for areas with poor environments, the position of the wagon is also relatively clear. It changes the traditional method of directly connecting GPS and Beidou on wagons. By installing wagon position receiving centers near the transportation roads, the wagon can be connected to the Beidou system even in mountainous areas and other places, enabling the operation terminal to understand the information of the wagon at any time.

[0004] Although the above prior art solutions can achieve relevant beneficial effects through the structures of the prior art, there are still the following defects: 1. Traditional wagon management relies on trackside equipment and lacks real-time performance; existing railway wagon monitoring systems mostly rely on external power sources or traditional batteries for power supply and lack effective self-power generation technology. When operating in long-distance transportation or remote areas, it is prone to power supply shortages, unable to ensure the long-term stable operation of the equipment, increasing the operation cost and maintenance difficulty. 2. Traditional railway wagon positioning technology is difficult to maintain high-precision positioning in complex environments such as tunnels and mountainous areas, and the signals are easily blocked and interfered, unable to provide accurate and real-time position information for transportation dispatching. 3. Existing condition monitoring means can often only perform simple monitoring on some key parts, lacking intelligent analysis and early warning functions, and it is difficult to detect potential fault hazards and predict risks in a timely manner.

[0005] In view of this, we propose a self-powered Beidou positioning system and method for railway wagons on board. Summary of the Invention

[0006] 1. Technical Problems to be Solved

[0007] The purpose of this application is to provide a self - generating Beidou positioning system and method for railway freight cars, which solves the technical problems raised in the above - mentioned background technology. It realizes fixing the system to the railway freight car through a welding bracket without modifying the frame structure. The self - generating device integrates a wind energy power generation module and an axle - end power generation module, and uses the airflow energy during the running of the freight car and the mechanical energy of the axle rotation to generate electricity, providing stable energy for the system; the two power generation methods complement each other; the power management module monitors and precisely controls the charging process of the lithium iron phosphate battery pack in real time through the charging control unit (BMS), which can effectively extend the battery life; the power conversion unit converts the electric energy into multiple stable voltages to meet the power supply requirements of different devices in the system; it realizes precise positioning and comprehensive monitoring; the status monitoring device monitors the running status of the freight car and environmental parameters in real time from multiple dimensions.

[0008] 2. Technical solution

[0009] The technical solution of this application provides a self - generating Beidou positioning system for railway freight cars, including:

[0010] Railway freight car: used for transporting goods; as the carrier of goods transportation.

[0011] Self - generating device: including a wind energy power generation module, an axle - end power generation module and a power management module;

[0012] Wind energy power generation module: utilizes the airflow energy during the running of the freight car, drives the generator rotor to rotate through specially designed blades, and converts wind energy into electric energy. It is fixedly installed on the railway freight car through a welding bracket;

[0013] Axle - end power generation module: installed at the end of the freight car axle, drives a micro - generator to generate electricity through the rotation of the axle, and realizes the conversion of mechanical energy into electric energy.

[0014] Power management module: stores, distributes and regulates the electric energy generated by the wind energy power generation module and the axle - end power generation module to ensure stable power supply for the system, and includes an efficient storage battery, a charging control unit (BMS) and a power conversion unit.

[0015] BeiDou positioning device: Receives high-precision BeiDou satellite signals, and can obtain real-time position information such as the longitude, latitude, and altitude of the truck, supporting centimeter-level positioning accuracy. It is equipped with a positioning antenna to enhance the ability to receive BeiDou satellite signals and ensure signal stability in complex environments (such as tunnels and mountainous areas). Preferably, the UM982 of Huixinstar is adopted, which is built-in with a high-performance BeiDou satellite signal receiving chip, capable of tracking multiple satellites simultaneously and accurately receiving BDS B1 / B2 / B3 multi-frequency signals. It can achieve centimeter-level positioning accuracy, and can obtain real-time and accurate position information such as the longitude, latitude, altitude, and driving speed of the truck. The high-gain positioning antenna it is equipped with adopts a special helical polarization design, with extremely strong anti-interference ability, greatly enhancing the receiving intensity of BeiDou satellite signals. Even in complex environments with severe signal occlusion such as tunnels and mountainous areas, relying on the signal compensation and multipath suppression technologies carried by this device, it can ensure the continuity and stability of positioning signals, providing a solid guarantee for the accurate positioning of the truck.

[0016] Status monitoring device: Includes axle-end status monitoring device, attitude sensor, and environmental sensor;

[0017] Axle-end status monitoring device: Installed at the axle end of the truck wheel set, monitors parameters such as axle temperature and rotational speed, and real-time feedbacks the operating status of the bearing.

[0018] Attitude sensor: Includes an accelerometer and a gyroscope, monitors attitude data such as the motion state (stationary / moving) and tilt angle of the truck.

[0019] Environmental sensor: Detects parameters such as temperature and humidity of the working environment.

[0020] Performs static and dynamic self-judgment, and through built-in sensors such as accelerometers and gyroscopes, real-time senses the motion state of the truck. When the truck is in a stationary state, the system automatically switches to the low-power mode to reduce power consumption; when it detects that the truck starts or the motion state changes, the system immediately resumes the normal working mode. At the same time, the reporting period can be flexibly adjusted according to actual needs. When the truck is driving normally, a longer reporting period can be set to reduce the data transmission volume and power consumption; when the truck has an abnormal situation or enters a specific monitoring area, the system supports the alarm mode to report immediately, and pushes relevant information to the management platform in a timely manner for managers to quickly respond and handle.

[0021] Wireless communication device: Includes LoRa gateway, APN secure communication module, and communication antenna;

[0022] LoRa gateway: Realizes networking communication with lower-level nodes (≥16 devices) such as the axle-end monitoring device, and supports low-power and long-distance data transmission.

[0023] APN Secure Communication Module: Encrypts and transmits data through a dedicated network channel, ensuring one-way signal transmission and preventing information leakage.

[0024] Communication Antenna: Used for data transceiver of LoRa and APN networks.

[0025] Main Control Unit: Includes a central processing unit and a storage unit;

[0026] Central Processing Unit: Processes positioning data and status information, controls communication between devices, and reports strategies. Runs a real-time operating system (RTOS), can quickly process Beidou positioning data and status monitoring information, control communication between devices and data reporting strategies. Achieves energy management of self-powered devices, intelligent judgment of vehicle abnormal states, and alarm triggering, ensuring the coordinated operation and efficient operation of each module of the system.

[0027] Storage Unit: Stores information such as historical positioning data and device operation logs, supporting data traceability and analysis.

[0028] Electronic Warehouse: Designed with an IP67 protection level, waterproof and dustproof, protecting internal electronic devices. The shell is made of high-strength aluminum alloy material and undergoes anodizing treatment. The inside of the warehouse adopts a modular layout, and each functional module is independently installed, facilitating maintenance and replacement.

[0029] Welding Bracket: Fixes the system device on the truck by welding, ensuring stable installation and compatibility with multiple vehicle models. Adopts a welding bracket installation method, without modifying the vehicle frame structure, reducing the installation difficulty and the impact on the original structure of the truck.

[0030] Management Platform Equipment: Includes a server, visualization management software, and a communication server;

[0031] Server: Processes and stores real-time data from multiple trucks.

[0032] Visualization Management Software: Provides an operation interface for functions such as positioning monitoring, status warning, and traffic flow analysis.

[0033] Communication Server: Establishes an APN private network connection with in-vehicle devices, receives and analyzes the uploaded data.

[0034] Alarm Device: Triggers a sound and light alarm when the truck is in an abnormal state.

[0035] Backup Power Supply: Provides temporary power supply in case of power generation system failure, ensuring that key data is not lost.

[0036] As an alternative solution of the present invention, the wind energy power generation module includes:

[0037] Energy capture equipment: including blades and hubs; blades are the core components of wind kinetic energy generation modules to capture energy; blades are connected to the generator rotor through high-precision bearings to reduce rotational friction losses, convert wind energy into mechanical energy, and then drive the generator rotor to rotate and generate electricity. The hub is used to fix and connect the blades and transmit the torque generated by the blades to the subsequent energy conversion components.

[0038] Energy conversion equipment: including generators and speed-increasing gearboxes;

[0039] Energy transmission control equipment: including rectifiers, controllers and cables;

[0040] Protective cover: A protective cover is provided to protect the electrical equipment inside the power generation module from corrosion by external environmental factors.

[0041] As an optional solution of the present invention, the wind kinetic energy power generation module is equipped with an intelligent wind speed adjustment device. When encountering extremely windy weather, the blade angle will be automatically adjusted to reduce wind resistance and avoid damage to the power generation components due to excessive wind speed. The module has a built-in power generation efficiency monitoring sensor to collect power generation data in real time and feed the information back to the power management module through wireless communication, so that the system can dynamically adjust the power generation strategy to ensure the maximization of power generation efficiency and the long-term stable operation of the power generation system.

[0042] As an optional solution of the present invention, the shaft end power generation module includes:

[0043] Energy conversion equipment: including a micro generator and a transmission mechanism; the micro generator adopts a permanent magnet micro generator;

[0044] Transmission mechanism: Since the rotation speed and torque of the axle may differ from the optimal working parameters of the generator, the transmission mechanism is used to adjust the power transmission between the two. The transmission mechanism adopts a gear transmission mechanism, preferably a two-stage reduction gearbox design.

[0045] Power management module: including rectification and filtering circuit and voltage stabilization module;

[0046] Rectification and filtering circuit: The output of micro generators is usually alternating current, and the current and voltage fluctuate greatly. The rectification and filtering circuit can convert alternating current into direct current, and smooth the current and voltage, remove clutter, and provide a stable DC power supply for subsequent equipment. Generally, the alternating current is first converted into pulsating direct current through a rectifier bridge, and then a filter circuit is formed using capacitors, inductors and other components to further stabilize the voltage and current.

[0047] Voltage stabilization module: To ensure that the output power meets the working requirements of other devices in the system, the voltage stabilization module accurately regulates the voltage after rectification and filtering. It can automatically adjust the output voltage according to load changes to ensure that the output voltage remains stable under different working conditions, such as when the axle speed changes.

[0048] Monitoring and protection device: including current and voltage sensors and protection circuits.

[0049] The present invention provides a method for on-vehicle self-generating Beidou positioning of railway freight cars, comprising the following steps:

[0050] S1. Fix the system to the railway freight car through a welding bracket, and protect the on-vehicle self-generating Beidou positioning system of the railway freight car through an electronic compartment;

[0051] S2. The self-generating device generates and manages electricity. The wind energy power generation module captures the airflow energy during the running of the freight car through specially designed blades, and drives the generator rotor to rotate and generate electricity; the axle-end power generation module uses the rotation of the axle to drive a micro-generator to convert mechanical energy into electrical energy. The charging control unit (BMS) in the power management module real-time monitors parameters such as the voltage, current, and temperature of the high-efficiency lithium iron phosphate battery pack, controls the charging process in a constant current-constant voltage mode, and simultaneously evaluates the battery health state (SOH) and estimates the remaining power (SOC). The power conversion unit converts the electrical energy output by the storage battery into various stable voltages to supply power to each device of the system.

[0052] S3. The Beidou positioning device collects data; the Beidou positioning device is built-in with a high-sensitivity receiving chip, receives Beidou high-precision satellite signals, enhances signal reception through a high-gain positioning antenna, and combines signal processing algorithms to real-time obtain position information such as the longitude, latitude, altitude, and running speed of the freight car.

[0053] S4. The status monitoring device obtains real-time data; the axle-end status monitoring device monitors parameters such as axle temperature and rotation speed to judge the bearing running state. The accelerometer and gyroscope in the attitude sensor real-time measure the acceleration and angular velocity changes of the vehicle in three axial directions, and calculate attitude data such as the movement state, tilt angle, and rollover risk of the freight car through a sensor fusion algorithm. The environment sensor detects the working environment temperature and humidity parameters.

[0054] S5. The main control unit makes intelligent judgments and mode switches; the system real-time senses the movement state of the freight car through the built-in accelerometer and gyroscope. When the freight car is stationary, it automatically switches to the low-power mode, turns off the power of non-essential devices, and the Beidou positioning device wakes up for positioning at regular intervals; when the freight car starts or its movement state changes, it resumes the normal working mode.

[0055] S6. The main control unit processes and reports data; runs a real-time operating system (RTOS), processes Beidou positioning data and status monitoring information, controls communication between devices and reporting strategies, and realizes energy management, abnormal state judgment, and alarm triggering.

[0056] S7. Data transmission by the wireless communication device: The LoRa gateway adopts the LoRaWAN protocol to form a network and communicate with subordinate nodes such as the shaft-end monitoring device. It allocates communication time slots through TDMA technology to achieve low-power and long-distance data transmission. The APN security communication module encrypts and transmits data through a dedicated network channel using the AES-256 encryption algorithm and establishes a stable TCP / IP connection.

[0057] S8. The management platform device performs platform processing and feedback. The communication server receives vehicle-mounted device data through the APN private network, uses multithreaded processing for protocol conversion to ensure real-time and accurate data transmission and network security. Through the visualization management software, functions such as positioning monitoring, status warning, and traffic flow analysis are provided to present data in an intuitive interface and various ways to assist managers in making decisions.

[0058] S9. When the truck is in abnormal states such as overspeed or excessive tilt angle, the alarm device emits audible and visual alarms and uploads the signal to the management platform simultaneously. When the power generation system fails, the backup power supply automatically switches to temporarily supply power to key devices to ensure system operation and data security, and quickly charges after the main power supply is restored.

[0059] 3. Beneficial effects

[0060] One or more technical solutions provided in the technical solution of this application have at least the following technical effects or advantages:

[0061] 1. In the present invention, the system is fixed to the railway truck through the welding bracket without modifying the frame structure, greatly reducing the installation difficulty and cost and improving the installation efficiency.

[0062] 2. The self-power generation device integrates a wind energy power generation module and a shaft-end power generation module, uses the airflow energy during the truck's driving and the mechanical energy of the axle rotation to generate electricity, and provides stable energy for the system. The two power generation methods complement each other. Even when the single power generation condition is poor, the other power generation method can still ensure the system power supply, reduce the dependence on external power sources, and lower the operation cost.

[0063] 3. The power management module can effectively extend the battery service life by monitoring and precisely controlling the charging process of the lithium iron phosphate battery pack in real time through the charging control unit (BMS); the power conversion unit converts the electric energy into multiple stable voltages to meet the power supply requirements of different devices in the system, and has overvoltage, undervoltage, and overload protection functions, improving the energy utilization efficiency and power supply stability.

[0064] 4. Achieve precise positioning and comprehensive monitoring: The Beidou positioning device is built with a high-sensitivity receiving chip, which can obtain the accurate longitude, latitude, altitude, driving speed and other position information of the freight car in real time. The status monitoring device includes axle-end status monitoring device, attitude sensor and environmental sensor, which can monitor the running status of the freight car and environmental parameters in real time from multiple dimensions. The axle-end status monitoring device can predict potential bearing faults in advance; the attitude sensor can quickly respond to the vehicle attitude changes and evaluate the rollover risk;

[0065] 5. The main control unit can perceive the motion state of the freight car in real time through the built-in sensors, automatically switch between the low-power mode and the normal working mode, and effectively reduce the system energy consumption. The central processor runs a real-time operating system, quickly processes various types of data, and the written control algorithms implement energy management, abnormal state judgment and alarm triggering; the storage unit encrypts and stores historical data, supports fast retrieval and analysis, and provides data support for railway transportation management. Brief Description of the Drawings

[0066] Figure 1 It is a schematic flow chart of the on-vehicle self-generated power Beidou positioning method for railway freight cars disclosed in this application. Detailed Embodiments

[0067] The following further describes this application in detail with reference to the drawings of the specification.

[0068] Refer to Figure 1 , this embodiment of the application provides an on-vehicle self-generated power Beidou positioning system for railway freight cars, including:

[0069] Railway freight car: used for transporting goods; as the carrier of goods transportation, the railway freight car undertakes the core transportation function in the whole system.

[0070] Self-generated power device: including wind energy power generation module, axle-end power generation module and power management module;

[0071] Wind energy power generation module: Utilize the airflow energy during the driving of the freight car, drive the generator rotor to rotate through specially designed blades, and convert wind energy into electrical energy. It is fixedly installed on the railway freight car through a welded bracket;

[0072] Axle-end power generation module: Installed at the end of the freight car axle, drive a micro-generator to generate electricity through the rotation of the axle, and realize the conversion from mechanical energy to electrical energy.

[0073] Power management module: Responsible for storing, distributing, and regulating the electrical energy generated by the wind kinetic energy power generation module and the shaft-end power generation module to ensure stable power supply for the system. It includes a high-efficiency battery, a charging control unit (BMS), and a power conversion unit. The high-efficiency battery uses lithium iron phosphate batteries; the charging control unit (BMS) is an existing technology and is only borrowed in this application; the power conversion unit can output 48V DC, 12V DC, and 5V DC;

[0074] Beidou positioning device: Receives Beidou high-precision satellite signals to obtain real-time position information such as the longitude, latitude, and altitude of the truck, and supports centimeter-level positioning accuracy. It is equipped with a positioning antenna to enhance the Beidou satellite signal reception ability and ensure stable signals in complex environments (such as tunnels and mountains).

[0075] Condition monitoring device: Includes a shaft-end condition monitoring device, an attitude sensor, and an environmental sensor;

[0076] Shaft-end condition monitoring device: Installed at the shaft end of the truck wheel set to monitor parameters such as shaft temperature and speed, and to provide real-time feedback on the bearing operating status.

[0077] Attitude sensor: Includes an accelerometer and a gyroscope to monitor the motion state (stationary / moving) and attitude data such as the tilt angle of the truck.

[0078] Environmental sensor: Detects parameters such as the temperature (-40°C to +85°C) and humidity (5% to 95%) of the working environment to ensure the normal operation of the device under extreme conditions.

[0079] Perform static and dynamic self-judgment, and use built-in sensors such as accelerometers and gyroscopes to sense the motion state of the truck in real time. When the truck is in a stationary state, the system automatically switches to the low-power mode to reduce power consumption; when it detects that the truck starts or the motion state changes, the system immediately resumes the normal working mode. At the same time, the reporting period can be flexibly adjusted according to actual needs. When the truck is driving normally, a longer reporting period can be set to reduce the data transmission volume and power consumption; when the truck has an abnormal situation or enters a specific monitoring area, the system supports the alarm mode to report immediately and push relevant information to the management platform in a timely manner for quick response and handling by management personnel.

[0080] Wireless communication device: Includes a LoRa gateway, an APN security communication module, and a communication antenna;

[0081] LoRa gateway: Realizes networking communication with lower-level nodes (≥16 devices) such as shaft-end monitoring devices, and supports low-power and long-distance data transmission.

[0082] APN security communication module: Encrypts and transmits data through a dedicated network channel to ensure one-way signal transmission and prevent information leakage.

[0083] Communication antenna: Used for data transceiver of LoRa and APN networks.

[0084] Main control unit: Includes a central processor and a storage unit;

[0085] Central processor: Processes positioning data and status information, controls communication between devices and reporting strategies. Adopts a high-performance ARM Cortex-A72 processor with a main frequency up to 2.0GHz, having powerful data processing and multitasking capabilities. Runs a real-time operating system (RTOS), can quickly process Beidou positioning data and status monitoring information, control communication between devices and data reporting strategies. By writing efficient control algorithms, realizes energy management of self-powered devices, intelligent judgment of vehicle abnormal states and alarm triggering, ensuring that each module of the system works together efficiently.

[0086] Storage unit: Stores information such as historical positioning data and device operation logs, supports data traceability and analysis. The storage unit uses a large-capacity eMMC flash chip with a storage capacity up to 128GB, and can store information such as historical positioning data, device operation logs, and alarm records. Supports encrypted data storage to ensure data security. By establishing an efficient data indexing and query mechanism, historical data can be quickly retrieved, facilitating data analysis and fault tracing. At the same time, supports the data automatic cyclic overwrite function. When the storage space is insufficient, the earliest data is automatically deleted to ensure the continuous availability of the storage unit.

[0087] Electronic compartment: Designed with an IP67 protection level, waterproof and dustproof, protecting internal electronic devices. The shell is made of high-strength aluminum alloy material and undergoes anodizing treatment, having good waterproof, dustproof and corrosion-resistant properties. The interior of the compartment adopts a modular layout, and each functional module is independently installed, facilitating maintenance and replacement. It is equipped with an efficient heat dissipation device inside, and through thermal conductive silicone and heat sinks, quickly conducts the heat generated by electronic components, ensuring the normal operation of the device in a high-temperature environment. At the same time, the electronic compartment has good electromagnetic shielding performance, which can effectively prevent external electromagnetic interference and ensure the stable operation of internal electronic devices.

[0088] Welding Bracket: Fixes the system equipment to the freight car by welding, ensuring stable installation and compatibility with multiple vehicle models. Adopting the welding bracket installation method, there is no need to modify the frame structure of the vehicle, reducing the installation difficulty and the impact on the original structure of the freight car, improving the installation efficiency, and also facilitating the later maintenance and replacement of the equipment. In addition, the system supports the installation on multiple vehicle models such as C70 / C80 / C64K / KM81, etc., with wide compatibility and can meet the requirements in different railway transportation scenarios. The welding bracket is made of high-strength alloy steel and is fixed to the freight car body through a special welding process to ensure stable and reliable installation. The bracket design fully considers the structural characteristics and mechanical properties of the freight car, and realizes the rapid installation of the system equipment without affecting the strength of the original frame structure of the freight car. The bracket has good versatility, can adapt to the installation requirements of multiple vehicle models, and does not require large-scale modification of the freight car during the installation process, reducing the installation difficulty and cost and improving the installation efficiency. At the same time, the bracket adopts a detachable design, which is convenient for the later maintenance and replacement of the equipment, reducing the equipment maintenance time and cost.

[0089] Management Platform Equipment: Includes servers, visualization management software, and communication servers;

[0090] Server: Processes and stores real-time data from multiple freight cars.

[0091] Visualization Management Software: Provides an operation interface with functions such as positioning monitoring, status warning, and traffic flow analysis.

[0092] Communication Server: Establishes an APN private network connection with in-vehicle equipment, receives and parses the uploaded data.

[0093] Alarm Device: Triggers an audible and visual alarm when the freight car is in an abnormal state (such as overspeed, excessive tilt angle).

[0094] Standby Power Supply: Provides temporary power supply when the power generation system fails to ensure that key data is not lost.

[0095] Furthermore, the wind energy power generation module includes:

[0096] Energy Capture Equipment: Includes blades and hubs;

[0097] Blade: As the core component for capturing energy in the wind kinetic energy power generation module, its shape, size, and material are crucial for energy capture efficiency. Blades with aerodynamic optimization design, such as propeller-type or airfoil blades, are used to improve the ability to capture airflows and conversion efficiency. Lightweight and high-strength composite materials, such as carbon fiber reinforced composites, are selected for the material to ensure the strength and durability of the blades while reducing weight, adapting to the complex airflow environment during the high-speed operation of railway wagons. The blade is connected to the generator rotor through a high-precision bearing to reduce rotational friction losses, convert wind energy into mechanical energy, and then drive the generator rotor to rotate and generate electricity. It is fixed on the top or side of the railway wagon through a customized welding bracket. The bracket is made of high-strength alloy steel and processed by a special welding process, which can withstand strong wind impacts and vehicle vibrations during high-speed operation, ensuring the stable installation of the power generation module and not affecting the normal operation of the wagon and cargo loading.

[0098] Hub: It is used to fix and connect the blades and transfer the torque generated by the blades to the subsequent energy conversion components. The hub needs to have good mechanical strength and connection stability, and is generally made of high-strength alloy materials to ensure reliable operation in high-speed rotation and vibration environments.

[0099] Energy conversion equipment: It includes a generator and a speed increasing gearbox;

[0100] Generator: It is the key device for converting mechanical energy into electrical energy. Common types include permanent magnet synchronous generators and asynchronous generators. Permanent magnet synchronous generators have high power generation efficiency and power density, are suitable for application in wind kinetic energy power generation scenarios, and can efficiently convert the mechanical energy transmitted by the blades into electrical energy output.

[0101] Speed increasing gearbox: Since the rotation speed of the blade is relatively low, while the generator usually requires a higher rotation speed to achieve the ideal power generation efficiency, a speed increasing gearbox is configured in some designs. It can convert the low rotation speed of the blade into the high rotation speed required by the generator to improve energy conversion efficiency.

[0102] Energy transmission and control equipment: It includes a rectifier, a controller, and a cable;

[0103] Rectifier: The electrical energy output by the generator is generally alternating current, while most other devices in the system require direct current. The role of the rectifier is to convert alternating current into direct current for subsequent storage and use.

[0104] Controller: It monitors the operating status of the power generation module in real time, such as parameters like wind speed, generator rotation speed, output voltage, and current, and adjusts the power generation process according to the set control strategy. For example, when the wind speed is too high, the controller can adjust the blade angle or limit the generator rotation speed to protect the safety of the equipment; when the system power is sufficient, it can reduce the power generation power to reduce unnecessary energy losses.

[0105] Cable: used to connect the components of the power generation module and transmit power to the system power management module. It must have good conductivity and wear resistance to adapt to the vibration and friction environment of railway freight cars during operation.

[0106] Protective cover: Protective cover is set to protect the electrical equipment inside the power generation module from external environmental factors (such as rain, dust, sand, etc.). The protective cover is made of materials with good protective performance, such as high-strength engineering plastics or metal materials, and has good heat dissipation performance to prevent the equipment from overheating and affecting normal operation.

[0107] Furthermore, the wind kinetic energy power generation module is equipped with an intelligent wind speed adjustment device. When encountering extremely windy weather, the blade angle will automatically adjust to reduce wind resistance and avoid damage to the power generation components due to excessive wind speed. At the same time, the module has a built-in power generation efficiency monitoring sensor to collect power generation data in real time and feed the information back to the power management module through wireless communication, so that the system can dynamically adjust the power generation strategy to ensure the maximum power generation efficiency and the long-term stable operation of the power generation system.

[0108] Furthermore, the shaft end power generation module includes:

[0109] Energy conversion equipment: including micro generators and transmission mechanisms;

[0110] Micro generator: As the core component of the shaft-end power generation module, the permanent magnet micro generator is small in size, high in power density, and relatively high in power generation efficiency. It is connected to the axle and uses the principle of electromagnetic induction to convert mechanical energy into electrical energy when the axle rotates. For example, for a permanent magnet generator with an outer rotor structure, the rotation of the axle can directly drive the outer rotor to rotate, so that the internal stator coil cuts the magnetic flux lines to generate current.

[0111] Transmission mechanism: Since the speed and torque of the axle may differ from the optimal working parameters of the generator, the transmission mechanism is used to adjust the power transmission between the two. Common transmission methods include gear transmission and belt transmission. Gear transmission is preferred, which has the advantages of accurate transmission ratio and high efficiency, and can accurately adjust the speed of the generator according to actual needs;

[0112] The gear transmission mechanism of the transmission mechanism adopts a two-stage reduction gearbox design, which is mainly composed of the following components:

[0113] Input shaft: Material sampling 20CrMnTi carburized steel, carburized and quenched, surface hardness HRC58-62, core hardness HRC30-45; one end is connected to the axle coupling through a spline, and the other end is machined with an involute cylindrical gear; the hollow shaft design is adopted to reduce weight and improve torsional rigidity, and a high-precision cylindrical roller bearing is installed at the journal;

[0114] Intermediate shaft: The material is 42CrMo alloy steel, surface hardened after quenching and tempering, with a hardness of HRC48 - 52; tapered roller bearings are installed at both ends, and two gears are machined in the middle; the large gear meshes with the gear on the input shaft; the small gear meshes with the gear on the output shaft; it adopts a stepped shaft structure, and the axial position accuracy of the gear is guaranteed by shaft shoulder positioning. The bearings are installed back-to-back to improve the anti-overturning ability.

[0115] Output shaft: The material is 42CrMo alloy steel, and a gear that meshes with the small gear on the intermediate shaft is machined at one end; an elastic coupling is used at the output end to connect with the generator rotor to compensate for installation errors and buffer vibrations.

[0116] Gearbox housing: The material is high-strength cast iron HT300 with a wall thickness of 12 mm; it adopts a split structure, and the upper and lower boxes are connected by M12 high-strength bolts, and the joint surface is sealed with liquid sealant; lubricating oil channels are designed inside, and splash lubrication is used to ensure the lubrication of each gear and bearing; a breather plug is set at the top of the box, and an oil drain plug and an oil level observation hole are provided at the bottom; stiffeners are designed outside the box to improve the anti-vibration performance and rigidity. The overall protection level reaches IP67, adapting to the harsh railway environment.

[0117] Sealing system: Input / output shaft seal: Double-lip skeleton oil seals are used. The main lip seals the lubricating oil, and the secondary lip prevents dust. The joint surface of the box is sealed with liquid sealant (oil-resistant silicone rubber), which forms an elastic sealing layer after curing; Bearing seal: A labyrinth seal structure is adopted to prevent lubricating oil leakage and the intrusion of external dust.

[0118] Power management module: It includes a rectifier filter circuit and a voltage regulator module.

[0119] Rectifier filter circuit: The output of a micro-generator is usually alternating current, and the current and voltage fluctuate greatly. The rectifier filter circuit can convert alternating current into direct current, smooth the current and voltage, remove the clutter, and provide a stable DC power supply for subsequent devices. Generally, the alternating current is first converted into pulsating direct current through a rectifier bridge, and then a filter circuit composed of components such as capacitors and inductors is used to further stabilize the voltage and current.

[0120] Voltage regulator module: To ensure that the output electrical energy meets the working requirements of other devices in the system, the voltage regulator module precisely adjusts the voltage after rectification and filtering. It can automatically adjust the output voltage according to the load change, ensuring that the output voltage remains stable under different working conditions, such as when the axle speed changes.

[0121] Furthermore, the power management module includes monitoring and protection devices. Monitoring and protection devices: It includes current and voltage sensors and a protection circuit.

[0122] Current and voltage sensor: It monitors the output current and voltage of the power generation module in real time and feeds the collected data back to the control unit of the system. By analyzing these data, it can determine whether the working state of the power generation module is normal, such as whether there are abnormal conditions like overload and short circuit.

[0123] Protection circuit: When abnormal current, voltage or other faults are detected, the protection circuit is automatically activated to protect the power generation module and other devices in the system. For example, when a short-circuit current is detected, the protection circuit can quickly cut off the circuit to prevent the device from being damaged due to excessive current; when the voltage is too high or too low, corresponding measures can also be taken for adjustment or protection. The protection circuit includes over-current protection circuit, over-voltage protection circuit and under-voltage protection circuit; the over-current protection circuit includes a self-resetting fuse circuit and a circuit based on a current sensor and a comparator; the over-voltage protection circuit includes a Zener diode limiting circuit and a circuit based on a voltage comparator and a relay: the under-voltage protection circuit is a circuit based on a voltage comparator and a switching transistor; this is the prior art and is only borrowed in this application and will not be elaborated here.

[0124] Furthermore, the power management module stores, distributes and regulates the electric energy generated by the wind kinetic energy power generation module and the shaft-end power generation module to ensure stable power supply for the system, including the following steps:

[0125] 1. Electric energy input:

[0126] 1.1. Access of electric energy from the power generation module: The alternating current (with a frequency varying with the vehicle speed) output by the generator of the wind kinetic energy power generation module is connected to the power management module through a cable. First, it is converted to direct current (such as 50 - 60V DC) through a rectifier bridge, and then the high-frequency ripple is filtered out through an LC filter circuit (inductor + capacitor) to output a stable DC voltage.

[0127] 1.2. The pulsating direct current (with a voltage fluctuating with the axle speed) output by the micro-generator of the shaft-end power generation module directly enters the power management module and is regulated for boosting and bucking through a Buck - Boost converter to stabilize the voltage within the range of 48 - 52V DC.

[0128] 2. Detection of input electric energy:

[0129] Voltage and current sampling: Two input voltages (U1, U2) and currents (I1, I2) are collected in real time through a high-precision ADC chip (such as ADS1115), with an accuracy of ±0.5%FS.

[0130] Validity judgment: If the input voltage < 9V or > 60V, it is determined as abnormal and the protection circuit is triggered to cut off the input; if the current > 100A (exceeding the rated input of the module), over-current protection (self-resetting fuse + MOS transistor turn-off) is activated.

[0131] 3. Electrical Energy Storage Management (Charging Control):

[0132] 3.1 Battery Pack Connection and State Assessment:

[0133] Battery State Acquisition: The parameters of the battery pack are read in real time through the BMS, including the voltage of each cell (the voltage difference between cells is required to be ≤ 50 mV), temperature (through the NTC sensor, with an accuracy of ±1 °C), SOC (State of Charge, estimated by ampere-hour integration + Kalman filter), and SOH (State of Health, estimated by internal resistance monitoring). Calculate the state of charge of the battery according to the following formula:

[0134] SOC(t) = SOC0 + [(1 / C nom )∫ t 0(ηI batt dt)] + δ KF ;

[0135] δ KF = Kk(Z k - Hx^ k|k-1 );

[0136] In the formula, SOC(t) is the state of charge of the battery at time t, representing the percentage of the current remaining charge of the battery in its rated capacity. SOC0 is the initial state of charge of the battery, that is, the SOC value at time t = 0. C nom is the rated capacity of the battery, usually in ampere-hours (Ah). This is the amount of electric charge that the battery can store or release under standard conditions. η is the charge and discharge efficiency, representing the energy conversion efficiency of the battery during the charge and discharge process, usually with a value range of 0.95 - 0.98. I batt is the battery current, in amperes (A). It is positive during discharge and negative during charging (or determined according to the agreed direction); δ KF is the Kalman filter correction term, used to correct the SOC estimation deviation caused by factors such as sensor errors, battery aging, and temperature changes in the ampere-hour integration method. The Kalman filter dynamically adjusts the SOC estimate by fusing the predicted value of the battery model and the actual observed values (such as voltage and current measurements) to improve the accuracy of the estimation. Kk is the Kalman gain at time k. The Kalman gain is a weighting factor that determines the relative importance of the observed value in correcting the state estimate. The calculation of the Kalman gain takes into account the uncertainty of the predicted state (through the predicted state covariance matrix) and the uncertainty of the observed noise (through the observed noise covariance matrix). Z kis the actual observed value at time k. This is the actual data obtained from sensors or other measurement devices and is used to compare with the predicted value to calculate the correction term. H is the observation matrix, which maps the state space to the observation space. It describes how to calculate the observed value from the system state. In some simple cases, if the observation directly corresponds to the state, H may be the identity matrix or a properly transformed matrix. x^ k|k-1 is the predicted state estimate based on the system model at time k. It is the state at the current time predicted according to the system model and the state estimate at the previous time.

[0137] 3.2. Charging mode selection:

[0138] When the battery state is SOC < 20%, constant current charging is adopted, charging with a current of 50 A until the cell voltage reaches 3.4 V (lithium iron phosphate);

[0139] When 20% ≤ SOC < 80%, constant voltage charging is adopted, the voltage is maintained at 48 V, and the current gradually decreases to 10 A as the SOC increases;

[0140] When SOC ≥ 80%, floating charge maintenance mode is adopted, the voltage drops to 47 V, only compensating for the self-discharge loss of the battery (about 0.5 A).

[0141] 4. Charging protection: including overcharge protection, overheat protection and balancing control;

[0142] Overcharge protection: When the voltage of any single cell > 3.65 V, the charging circuit is immediately cut off, triggering an audible and visual alarm and reporting the fault code through the CAN bus.

[0143] Overheat protection: When the battery temperature ≥ 65 °C, charging is suspended and the cooling fan is started, and charging resumes after the temperature drops to 55 °C.

[0144] Balancing control: When the cell voltage difference > 100 mV, the active balancing circuit (switching capacitor balancing) is started, and the energy of the high-voltage single cell is transferred to the low-voltage single cell to make the voltage difference ≤ 50 mV.

[0145] 5. Power distribution and output control

[0146] 5.1. Load priority scheduling:

[0147] Primary load (core equipment): Beidou positioning module, LoRa gateway, main controller: with the highest priority, always keep powered, directly powered by the battery pack or the power generation module (preferably using the power of the power generation module).

[0148] Secondary load (auxiliary equipment): sensors, alarm devices, cooling fans: powered when the power generation module has sufficient power (remaining power > 50 W), otherwise powered by the battery pack, but cut off when the battery SOC < 30%.

[0149] Level 3 Load (Non-essential Equipment): Visual Display Screen, Debugging Interface: Only powered in manual maintenance mode, default power-off.

[0150] 5.2 Dynamic Power Allocation:

[0151] If the total input power is greater than the total load power: The power generation module gives priority to powering the load, and the remaining electric energy is used for charging.

[0152] If the total input power is less than the total load power: The battery pack supplements power supply until the battery SOC drops to 20% and under-voltage protection is triggered.

[0153] 5.3 Multi-voltage Output Control:

[0154] 48V DC Output: Directly powers high-voltage loads such as the control circuit of the power generation module and motor drive,

[0155] The power supply source is switched through a relay (the power generation module has priority).

[0156] 12V / 5V DC Output: Generated by an isolated DC-DC converter and an LDO voltage regulator, adopting the "master-slave mode":

[0157] The main path is Power Generation Module → Converter → Load; the slave path is Battery Pack → Converter → Load (automatically switched when the main path fails).

[0158] 6 System Stability Protection:

[0159] 6.1 Voltage Fluctuation Suppression: Energy storage capacitors are buffered, and a 10mF electrolytic capacitor is connected in parallel on the power input side to suppress voltage spikes during the start and stop of the power generation module (ΔU ≤ ±2V). Dynamic voltage regulation is performed. When voltage fluctuations are caused by load mutations (such as sudden communication of the LoRa gateway), the BMS controls the output current of the power generation module (current limiting mode), and at the same time adjusts the discharge current of the battery pack to ensure that the output voltage stability is ≤ ±1%.

[0160] 7 Data Recording: Data is locally stored, and data such as power generation power, battery status, and load power consumption are recorded every 10 minutes and stored in the EEPROM (capacity ≥ 1MB), supporting historical data traceability for more than 1 year. Remote reporting is carried out. An energy management report is sent to the railway operation and maintenance platform through the APN network at regular intervals (such as every hour), including: daily power generation (kWh), battery charge and discharge times and depths, and fault statistics and warning information.

[0161] Furthermore, the main control unit monitors parameters such as axle temperature and rotational speed through state monitoring devices, and real-time feedbacks the operating state of the bearings; monitors the motion state (stationary / moving) of the freight car, attitude data such as tilt angle, etc.; detects the working environment parameters, and makes a standby dynamic self-judgment. When the freight car is in a stationary state, the system automatically switches to the low-power mode to reduce power consumption; when it detects that the freight car starts or the motion state changes, the system immediately resumes the normal working mode. It includes the following steps:

[0162] 1. Real-time data acquisition: The attitude sensor collects the original data of acceleration and angular velocity at a fixed frequency (such as 10Hz). The axle end device - tachometer synchronously collects the rotational speed (the rotational speed is 0 when stationary).

[0163] 2. Motion state discrimination:

[0164] Stationary determination conditions (need to be satisfied simultaneously): Absolute value of acceleration < 0.1m / s 2 (regarded as no obvious motion). Gyroscope angular velocity < 5° / s (regarded as no significant change in attitude). Rotational speed = 0 (no rotation of the wheel set). Duration ≥ T0 (such as 5 minutes, configurable according to needs).

[0165] Motion determination condition: If any of the above does not meet the stationary condition, it is determined as the "motion state".

[0166] 3. Working mode switching:

[0167] Stationary state: Turn off non-essential modules, such as the heating element of the axle end device (if the ambient temperature > 0°C), the high-frequency communication module. Switch to the low-power mode, the sensor sampling frequency drops to 1Hz, and the microprocessor enters the sleep state (wake-up interval is 10 seconds). Only basic monitoring is retained, and the acceleration and rotational speed are detected every 30 seconds to confirm whether it remains stationary.

[0168] Motion state: Activate the full-function mode, the sensor resumes high-frequency sampling (10Hz), and the communication module transmits data in real time. Start real-time analysis of axle temperature and attitude: Compare with historical data to identify abnormal vibrations or temperature rises (such as an axle temperature sudden change > 5°C / minute triggers an alarm).

[0169] 4. Dynamic adjustment of the reporting period:

[0170] Normal driving mode (motion state): The regular reporting period T1 = 60 seconds (configurable, to reduce data traffic). The data content includes the average values of axle temperature, rotational speed, attitude angle, and ambient temperature and humidity.

[0171] Abnormalities, alarm mode (trigger conditions): The trigger scenarios are that the axle temperature exceeds the threshold (e.g., 90 °C), the tilt angle > 15°, and the acceleration changes suddenly (emergency braking / collision). The reporting period T2 = 1 second (the original data and the warning level are reported immediately). The data content includes the original sensor waveform and real-time positioning information (a GPS module needs to be integrated).

[0172] Reporting in the stationary state: The period T3 = 30 minutes (configurable), and only the environmental parameters and battery status are reported.

[0173] 5. System linkage and management platform response

[0174] Alarm data transmission path: Device → Cloud management platform → Mobile APP / PC terminal of the management personnel.

[0175] Abnormality handling process: After the platform receives the alarm data, it automatically triggers a triple response:

[0176] ①. Real-time pop-up reminder (marking the truck number, fault type, location);

[0177] ②. Send text messages / voice notifications to the designated person in charge;

[0178] ③. Generate a fault work order and associate it with the maintenance resource scheduling system.

[0179] 6. Evaluation and prediction: Based on the motion state data, analyze the driving habits of the truck (such as idle time, frequency of rapid acceleration), and optimize energy consumption management;

[0180] Through the axle temperature and environmental data, establish a bearing life prediction model (such as analyzing the temperature rise trend through machine learning algorithms). The bearing life prediction model is:

[0181] L 剩余 = w0 + w1T - bear + w2ΔT bear ′(t) + w3T - env + w4t total + w5ΔT diff (t);

[0182] ΔT bear ′(t) = [T bear (t) - T bear (t - Δt)] / Δt;

[0183] ΔT diff (t) = T bear (t) - T env (t); In the formula, L 剩余is the remaining life of the bearing, which is the remaining time predicted by the model for the bearing to fail from the current moment. w0 is the bias or intercept of the model. It is the output value of the model when all input features are zero. w1, w2, w3, w4, w5 are the weight parameters of the model, representing the influence degree of each feature on the remaining life. The larger the weight, the greater the contribution of the feature to the prediction result. The weights are learned from the training data. T - bear is the average shaft temperature, which is the average temperature of the bearing over a period of time and reflects the overall thermal load of the bearing. ΔT bear ′(t) is the shaft temperature change rate, which is the rate of change of the bearing temperature over time and reflects the change of the bearing's thermal stress. T - env is the average ambient temperature, which affects the heat dissipation condition of the bearing. t total is the cumulative operating time, which is the total operating time of the bearing from being put into use to the current moment and reflects the fatigue accumulation of the bearing. ΔT diff (t) is the difference between the shaft temperature and the ambient temperature, which is the difference between the bearing temperature and the ambient temperature and reflects the change of the bearing's thermal load relative to the environment.

[0184] Furthermore, the central processing unit processes the positioning data and status information, controls the communication between devices and reports the strategy; including traffic flow management, mileage management, freight management, revenue management and efficiency management

[0185] Traffic flow management: uniformly manages the freight cars in the entire railway transportation network, and real-time monitors the freight car flow on each line and at each station. Through data analysis, it predicts the peak and trough periods of traffic flow, reasonably arranges the dispatching plan, optimizes the allocation of railway transportation capacity resources, improves the overall efficiency of railway transportation, and reduces the backlog and waiting time of freight cars.

[0186] Q(t + τ) = Σ M i＝1 [w i Q(t - τ i ) + e(t)]; where Q(t + τ) is the freight car flow on a certain line at time t + τ (unit: vehicles / period). τ is the prediction time interval. M is the order of historical data selected by the model (i.e., considering the historical flow of the previous M periods). w i is the weight coefficient of the i-th order historical flow (determined by model training, reflecting the influence degree of historical data on the future). τ i is the delay duration of the i-th order historical data. e(t) is a white noise term subject to normal distribution (representing random fluctuations or errors not captured by the model).

[0187] Mileage management: The Beidou positioning system is used to accurately record the mileage of trucks, and combined with time information, the driving speed of trucks can be accurately calculated. Through statistical analysis of mileage data, it provides a basis for transportation cost accounting, fuel consumption evaluation, etc., and also helps to evaluate the work performance of drivers.

[0188] Freight management: Connect with the railway freight system to realize the associated management of cargo information and truck information. On the management platform, you can view the detailed information of the cargo loaded on each truck, including cargo name, weight, destination, etc. At the same time, track the transportation status of the cargo in real time, such as loading and unloading time, cargo safety during transportation, etc., provide accurate cargo transportation information query services for cargo owners, and improve the quality of freight services.

[0189] Revenue management: Automatically calculate transportation revenue based on truck mileage, cargo volume, transportation time and other data. Combined with cost data (such as fuel consumption, equipment maintenance costs, etc.), generate detailed revenue reports to help companies clearly understand the profitability of transportation business, provide data support for corporate decision-making, optimize operation strategies and improve economic benefits.

[0190] Efficiency management: By analyzing various data during truck transportation, we can evaluate transportation efficiency, such as stopover calculation (truck stop time at intermediate stations), loading and unloading efficiency, etc. We can find out the bottlenecks that affect transportation efficiency and propose improvement measures, such as optimizing the loading and unloading process, and reasonably arranging transportation plans, so as to continuously improve the overall efficiency of railway truck transportation.

[0191] The present invention provides a railway freight car onboard self-generated Beidou positioning method, comprising the following steps:

[0192] S1. Fix the system to the railway freight car through welding brackets, and protect the self-generated Beidou positioning system on the freight car through the electronic warehouse;

[0193] S2. Self-generating equipment for self-generation and management: The wind kinetic energy generation module captures the airflow energy of the truck through specially designed blades, driving the generator rotor to rotate and generate electricity; the shaft-end power generation module uses the rotation of the axle to drive the micro-generator to convert mechanical energy into electrical energy. The charging control unit (BMS) in the power management module monitors the voltage, current, temperature and other parameters of the high-efficiency lithium iron phosphate battery pack in real time, uses the constant current-constant voltage mode to control the charging process, and evaluates the battery health state (SOH) and estimates the remaining power (SOC). The power conversion unit converts the power output of the battery into a variety of stable voltages such as 48V DC, 12V DC and 5V DC to power various devices in the system.

[0194] S3. The Beidou positioning device collects data. The Beidou positioning device is built with a high-sensitivity receiving chip to receive Beidou high-precision satellite signals. The signal reception is enhanced through a high-gain positioning antenna. Combining with signal processing algorithms, it can obtain real-time position information such as the longitude, latitude, altitude, and driving speed of the truck.

[0195] S4. The status monitoring device obtains real-time data.

[0196] The axle-end status monitoring device monitors parameters such as axle temperature and rotation speed to judge the operating status of the bearing.

[0197] The accelerometer and gyroscope in the attitude sensor measure the acceleration and angular velocity changes of the vehicle in three axes in real time. Through the sensor fusion algorithm, attitude data such as the motion state, tilt angle, and rollover risk of the truck are calculated.

[0198] The environmental sensor detects the working environment temperature and humidity parameters.

[0199] S5. The main control unit makes intelligent judgments and mode switches. The system can perceive the motion state of the truck in real time through the built-in acceleration sensor and gyroscope. When the truck is stationary, it automatically switches to the low-power mode, turns off the power of non-essential devices, and the Beidou positioning device wakes up for positioning at regular intervals. When the truck starts or its motion state changes, it resumes the normal working mode.

[0200] S6. The main control unit processes and reports data. The central processor of the main control unit runs a real-time operating system (RTOS) to process Beidou positioning data and status monitoring information, control communication between devices and reporting strategies, and write control algorithms to achieve energy management, abnormal state judgment, and alarm triggering. The storage unit encrypts and stores information such as historical positioning data, device operation logs, and alarm records. According to the running state of the truck, it flexibly adjusts the data reporting period.

[0201] S7. The wireless communication device transmits data: The LoRa gateway uses the LoRaWAN protocol to network and communicate with subordinate nodes such as the axle-end monitoring device, and allocates communication time slots through TDMA technology to achieve low-power and long-distance data transmission. The APN secure communication module encrypts and transmits data through a dedicated network channel using the AES-256 encryption algorithm and establishes a stable TCP / IP connection.

[0202] S8. The management platform device processes and gives feedback on the platform. The communication server receives vehicle-mounted device data through the APN private network, uses multi-threaded processing for protocol conversion to ensure real-time and accurate data transmission and network security. The server uses distributed storage technology and load balancing algorithms to process and store real-time data of multiple trucks, and has backup and disaster recovery mechanisms. Through the visualization management software, it provides functions such as positioning monitoring, status warning, and traffic flow analysis, presenting data in an intuitive interface and various ways to assist managers in making decisions.

[0203] S9. When the truck is in abnormal states such as overspeed and excessive tilt angle, the alarm device gives out audible and visual alarms, and at the same time uploads the signal to the management platform. When the power generation system fails, the backup power supply automatically switches to temporarily supply power to key equipment, ensuring the operation of the system and data security. After the main power supply is restored, it quickly charges.

[0204] The working principle of a vehicle-mounted self-powered Beidou positioning system for railway freight cars in the present invention is as follows: The system is fixed to the railway freight car through a welding bracket, and the vehicle-mounted self-powered Beidou positioning system for railway freight cars is protected through an electronic compartment; a self-power generation device generates power and manages itself; a Beidou positioning device collects data; the Beidou positioning device is built-in with a high-sensitivity receiving chip, receives Beidou high-precision satellite signals, enhances signal reception through a high-gain positioning antenna, and combines signal processing algorithms to obtain position information such as the longitude, latitude, altitude, and driving speed of the freight car in real time. A state monitoring device obtains real-time data; a shaft-end state monitoring device monitors parameters such as shaft temperature and rotation speed to judge the running state of the bearing. The accelerometer and gyroscope in the attitude sensor measure the acceleration and angular velocity changes of the vehicle in three axial directions in real time, and calculate attitude data such as the movement state, tilt angle, and rollover risk of the freight car through a sensor fusion algorithm. An environment sensor detects the working environment temperature and humidity parameters. The main control unit makes intelligent judgments and mode switches; the system perceives the movement state of the freight car in real time through the built-in acceleration sensor and gyroscope. When the freight car is stationary, it automatically switches to the low-power mode, turns off the power supply of unnecessary devices, and the Beidou positioning device wakes up for positioning regularly; when the freight car starts or its movement state changes, it resumes the normal working mode. The main control unit processes and reports data; the central processor of the main control unit runs a real-time operating system (RTOS), processes Beidou positioning data and state monitoring information, controls the communication between devices and the reporting strategy, and writes control algorithms to achieve energy management, abnormal state judgment, and alarm triggering. The storage unit encrypts and stores information such as historical positioning data, device operation logs, and alarm records. According to the running state of the freight car, the data reporting period is flexibly adjusted. A wireless communication device transmits data: The LoRa gateway uses the LoRaWAN protocol to network and communicate with subordinate nodes such as the shaft-end monitoring device, and allocates communication time slots through TDMA technology to achieve low-power and long-distance data transmission. The APN security communication module encrypts and transmits data through a dedicated network channel using the AES-256 encryption algorithm, and establishes a stable TCP / IP connection. The management platform device performs platform processing and feedback. The communication server receives the data of the vehicle-mounted device through the APN private network, uses multi-threaded processing, and performs protocol conversion to ensure the real-time and accurate transmission of data and network security. The server uses distributed storage technology and load balancing algorithms to process and store the real-time data of multiple freight cars, and has a backup and disaster recovery mechanism. Through the visualization management software, functions such as positioning monitoring, status warning, and traffic flow analysis are provided, and data is presented in an intuitive interface and various ways to assist managers in making decisions. When abnormal states such as overspeed and excessive tilt angle occur in the freight car, the alarm device gives out a sound and light alarm, and at the same time uploads the signal to the management platform. When a power generation system failure occurs, the backup power supply automatically switches to temporarily supply power to key devices to ensure the operation of the system and data security, and quickly charges after the main power supply is restored.

[0205] The present invention fixes the system to a railway freight car through a welding bracket, without modifying the frame structure, greatly reducing the installation difficulty and cost and improving the installation efficiency. The self-powered generation device integrates a wind energy power generation module and an axle-end power generation module, and uses the airflow energy during the running of the freight car and the mechanical energy of the axle rotation to generate electricity, providing stable energy for the system. The two power generation methods complement each other. Even when the single power generation condition is not good, the other power generation method can still ensure the power supply of the system, reduce the dependence on external power sources, and lower the operation cost. The power management module can effectively extend the battery service life by monitoring and precisely controlling the charging process of the lithium iron phosphate battery pack in real time through the charging control unit (BMS); the power conversion unit converts the electric energy into multiple stable voltages to meet the power supply requirements of different devices in the system, and has overvoltage, undervoltage, and overload protection functions, improving the energy utilization efficiency and power supply stability. To achieve precise positioning and comprehensive monitoring, the Beidou positioning device is built with a high-sensitivity receiving chip, combined with a high-gain positioning antenna and an advanced signal processing algorithm, to achieve centimeter-level positioning accuracy, and can obtain the precise position information of the freight car such as longitude, latitude, altitude, and driving speed in real time. Even in complex environments such as tunnels and mountains, the positioning signal can be ensured to be stable through signal compensation and multipath suppression technologies, providing precise position data support for railway transportation scheduling and management. The status monitoring device includes an axle-end status monitoring device, an attitude sensor, and an environmental sensor, and monitors the running status of the freight car and environmental parameters in real time from multiple dimensions. The axle-end status monitoring device can predict potential bearing fault hazards in advance; the attitude sensor can quickly respond to vehicle attitude changes and evaluate the rollover risk; the environmental sensor monitors extreme temperature and humidity, providing environmental data for equipment maintenance and fault diagnosis, and comprehensively ensuring the running safety of the freight car. The main control unit can automatically switch between the low-power mode and the normal working mode by sensing the motion state of the freight car in real time through the built-in sensor, effectively reducing the system energy consumption.

[0206] As mentioned above, the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements on some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the present invention in each embodiment.

Claims

1. A method for on-vehicle self-power generation Beidou positioning of railway freight cars, characterized in that, It includes the following steps: S1. Fix the system to the railway freight car through a welding bracket, and the electronic compartment protects the positioning system; S2. The self-power generation device generates power and manages itself; S3. The Beidou positioning device collects data; real-time obtains the longitude, latitude, altitude and driving speed position information of the freight car; S4. The status monitoring device obtains real-time data; S5. The main control unit makes intelligent judgments and switches modes; S6. The main control unit processes and reports data; runs a real-time operating system, processes Beidou positioning data and status monitoring information, controls communication between devices and reporting strategies; S7. The wireless communication device transmits data; S8. The management platform device conducts platform processing and feedback; The communication server receives vehicle-mounted device data through the APN private network, uses multithreading to process, conducts protocol conversion, and ensures real-time and accurate data transmission and network security; S9. When the freight car is in an abnormal state, the alarm device gives out a sound and light alarm, and at the same time uploads the signal to the management platform. When there is a fault in the power generation system, the backup power supply automatically switches to supply power to key devices temporarily.

2. The on-vehicle self-power generation Beidou positioning method for railway freight cars according to claim 1, characterized in that: Step S2 includes the following steps: S21. The wind energy power generation module captures the airflow energy during the driving of the freight car through the blades, and drives the generator rotor to rotate and generate electricity; S22. The axle-end power generation module uses the rotation of the axle to drive a micro-generator to convert mechanical energy into electrical energy; S23. The power management module stores, distributes and regulates the electrical energy generated by the wind energy power generation module and the axle-end power generation module; S24. The power conversion unit converts the electrical energy output by the battery into multiple stable voltages to supply power to each device.

3. The on-vehicle self-powered Beidou positioning method for railway freight cars according to claim 1, wherein: Step S4 includes the following steps: S41. The axle-end status monitoring device monitors the axle temperature and speed parameters and judges the operating status of the bearing; S42. The accelerometer and gyroscope in the attitude sensor measure the acceleration and angular velocity changes of the vehicle in three axial directions in real time, and calculate the motion state, tilt angle and roll risk attitude data of the freight car; S43. The environment sensor detects the working environment temperature and humidity parameters.

4. The on-vehicle self-powered Beidou positioning method for railway freight cars according to claim 2, characterized in that: Step S23 includes the following steps: S231. Electrical energy input: The alternating current output by the generator of the wind energy power generation module is connected to the power management module through a cable, first converted into direct current through a rectifier bridge, and then the high-frequency ripple is filtered through an LC filter circuit to output a stable direct current voltage; The pulsating direct current output by the micro-generator of the axle-end power generation module directly enters the power management module, and is regulated for boosting and bucking through a Buck-Boost converter; S232. Input electrical energy detection: Real-time collect the voltage and current of the two input paths; S233. Electrical energy storage management: Conduct battery pack access and status assessment, read the battery pack parameters in real time through the BMS, and select a charging mode; S234. Charging protection: including overcharge protection, overheat protection and equalization control; S235. Electrical energy distribution and output control; S236. System stability protection: Conduct dynamic voltage regulation to ensure stable output voltage; S237. Data recording: Locally store and record the data.

5. The on-vehicle self-powered Beidou positioning method for railway freight cars according to claim 1, characterized in that: Step S5 includes the following steps: S51. Real-time data collection: The attitude sensor collects the original data of acceleration and angular velocity; the axle-end device synchronously collects the speed; S52. Motion state discrimination; S53. Working mode switching: Shut down unnecessary modules in the stationary state and switch to the low-power mode; Activate the full-function mode in the motion state; S54. Dynamically adjust the reporting period; S55. System linkage and response of the management platform; After receiving the alarm data, the platform automatically triggers a triple response; S56. Evaluation and prediction are based on motion state data, analyze the driving habits of freight trucks, and optimize energy consumption management.

6. The on-vehicle self-powered Beidou positioning method for railway freight cars according to claim 2, wherein: The wind kinetic energy power generation module includes: Energy capture device: including blades and hubs; Energy conversion device: including generators and speed increasing gearboxes; Energy transmission and control device: including rectifiers, controllers and cables; Protective cover: Protect the electrical equipment inside the power generation module from the erosion of external environmental factors. The protective cover is made of materials with good protection performance.

7. The on-vehicle self-powered Beidou positioning method for railway freight cars according to claim 2, characterized in that: The shaft-end power generation module includes: Energy conversion device: including a micro-generator and a transmission mechanism; The micro-generator uses a permanent magnet micro-generator; The transmission mechanism uses a gear transmission method; The gear transmission mechanism of the transmission mechanism adopts a two-stage reduction gearbox design.

8. The on-vehicle self-powered Beidou positioning method for railway freight cars according to claim 2, characterized in that: Power management module: including a rectifier and filter circuit and a voltage regulation module; Rectifier and filter circuit: Convert alternating current to direct current, and smooth the current and voltage to remove noise; Voltage regulation module: Precisely regulate the voltage after rectification and filtering; Automatically adjust the output voltage according to the load change; The wind kinetic energy power generation module is equipped with an intelligent wind speed adjustment device. When encountering extremely strong wind weather, the blade angle will be automatically adjusted to reduce wind resistance and avoid damage to power generation components due to excessive wind speed; The module is built-in with a power generation efficiency monitoring sensor to collect power generation data in real time.

9. The on-vehicle self-power generation Beidou positioning method for railway freight cars according to claim 1, characterized in that: In step S6, the central processor processes the positioning data and status information, and controls the communication between devices and the reporting strategy; including traffic flow management, mileage management, freight management, revenue management and efficiency management; Among them, traffic flow management uniformly manages the freight trucks in the entire railway transportation network, and real-time grasps the freight truck flow conditions of each line and station; Through data analysis, predict the peak and trough periods of traffic flow, and reasonably arrange the dispatching plan; The traffic flow management model is: Q(t + τ) = Σ M i＝1 [w i Q(t - τ i ) + e(t)]; where Q(t + τ) is the freight car flow of a certain line at time t + τ; τ is the prediction time interval; M is the order of historical data selected by the model; w i is the weight coefficient of the historical flow of the i-th order; τ i is the delay duration of the historical data of the i-th order; e(t) is a white noise term subject to a normal distribution.

10. A vehicle-mounted self-powered Beidou positioning system for railway freight cars, comprising: Railway freight trucks, self-power generation equipment, Beidou positioning equipment, status monitoring equipment, wireless communication equipment, main control unit, electronic warehouse, welding bracket, management platform equipment, alarm device and backup power supply; It is characterized in that: Railway freight truck: used for transporting goods; Self-power generation equipment: including wind kinetic energy power generation module, shaft-end power generation module and power management module; Beidou positioning equipment: Receive Beidou high-precision satellite signals, and obtain the longitude, latitude and altitude position information of the freight truck in real time; Equipped with a positioning antenna; Status monitoring equipment: including shaft-end status monitoring device, attitude sensor and environmental sensor; Shaft-end status monitoring device: Monitor the shaft temperature and speed parameters, and real-time feedback the bearing operation status; Attitude sensor: includes an accelerometer and a gyroscope, and monitors the motion state and tilt angle attitude data of the freight truck; Environmental sensor: Detect the temperature and humidity parameters of the working environment; Wireless communication equipment: including LoRa gateway, APN security communication module and communication antenna; Main control unit: includes a central processing unit and a storage unit; the central processing unit processes positioning data and status information, controls communication between devices and reports policies; the storage unit stores historical positioning data and device operation log information; Electronic bin: protects internal electronic devices; the outer shell is made of high-strength aluminum alloy material; Welding bracket: fixes system devices on the truck by welding; Management platform device: includes a server, visualization management software and a communication server; Alarm device: triggers an audible and visual alarm when the truck is in an abnormal state; Backup power supply: provides temporary power supply when the power generation system fails.

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