CN1115666C - Real-time tracking device and method for molten iron mixer - Google Patents
Real-time tracking device and method for molten iron mixer Download PDFInfo
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- CN1115666C CN1115666C CN 99103403 CN99103403A CN1115666C CN 1115666 C CN1115666 C CN 1115666C CN 99103403 CN99103403 CN 99103403 CN 99103403 A CN99103403 A CN 99103403A CN 1115666 C CN1115666 C CN 1115666C
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Abstract
The present invention relates to a real-time tracking device and a method for molten iron mixers. The present invention is arranged on a molten iron mixer, and received satellite signals are input to a manual control computer 2 by a DGPS receiver 1; after an electronic map in the use region of the molten iron mixer is matched with the satellite signals, error is corrected; an aspect sensor 5 is used for judging rail way switch; a mileometer 4 is used for reckoning and positioning in a factory; data corresponding to the information of latitude, longitude and position the work region in the work region of the molten iron mixer one to one is stored in the manual control computer 2; the latitude and longitude data information of the molten iron mixer can be obtained, and the latitude and longitude data information is transmitted to a computer at the control center by a communication machine 3. The present invention has the advantages of wireless information transmission, few ground devices, convenient maintenance, advanced property, reliability, etc.
Description
The present invention relates to a kind of rail vehicle Position Tracking display device and method, transfer in the high smelter of frequency real-time follow-up display device and method as torpedo hot metal mixer car especially for locomotive among a small circle.
In the prior art, the tracking Control of torpedo hot metal mixer car all adopts is installing various sensors and is cooperating wireless communication and the license number reading device on the vehicle and between rail, is to be a section with adjacent sensors or road sign on the circuit simulation drawing, carries out range selector and follows the tracks of.Along with the development and application of global position system GPS (GPS:Global Positioning System), GPS has brought into play increasing effect in real-time positioning, for example combines scheduling and the monitoring that is used for various vehicles, boat and aircraft with electronic chart.GPS mainly is made up of three parts: gps satellite, ground monitoring system and subscriber equipment, wherein subscriber equipment is that needs according to user's different navigation, location carry out different designs.But, gps system is to be applied to wide area, unscreened occasion, the one-period of its deal with data is 12 minutes, tall and big blast furnace, factory building can reach 70～80 meters high in iron and steel enterprise, and several kilometers among a small circle in have a hundreds of road to pitch more than 100 work station point, the travelling speed of torpedo hot metal mixer car is 7 meter per seconds, the position accuracy demand of work station point is ± 20 centimetres, the data processing demonstration time is several seconds, and therefore gps system is directly used in the torpedo hot metal mixer car real-time follow-up is being difficult to reach requirement aspect precision and processing time.
The objective of the invention is to obtain a kind of torpedo hot metal mixer car apparatus for real time tracking and method, can cooperate with the gps satellite navigational system, real-time continuous is followed the tracks of the running orbit of torpedo hot metal mixer car.
For achieving the above object, the technical solution of the present invention's proposition is such:
A kind of torpedo hot metal mixer car apparatus for real time tracking, it comprises the differential position system receiver 1 that receives global satellite positioning signals, receiver 1 is with the signal input industrial computer 2 that receives, industrial computer 2 and communication machine 3, ID recognizer 7 and power supply 6 join, use the electronic chart in zone and satellite-signal to mate the back round-off error torpedo hot metal mixer car, obtain the longitude and latitude data message of torpedo hot metal mixer car, its key problem in technology is: this device is installed on torpedo hot metal mixer car and/or the locomotive, the signal that sends sends to the computing machine of Control Centre of enterprise by communication machine 3, stores in the torpedo hot metal mixer car perform region longitude and latitude and positional information high accuracy data one to one in the industrial computer 2.
This device also is included in the log 4 that piloting is used in the factory building.
This device also comprises the aspect sensor 5 of judging that track switch is used.
A kind of torpedo hot metal mixer car method for real time tracking, it may further comprise the steps:
(1) the ID sign indicating number of industrial computer identification torpedo hot metal mixer car,
(2) industrial computer judges whether that torpedo hot metal mixer car enters the satellite-signal district that is blocked, if then start log work, if not then
(3) vehicle-mounted DGPS machine judges whether to accept satnav information and positions,
(4) judge whether radio communication apparatus accepts the accurate correction position information from the difference station,
(5) industrial computer and aspect sensor judge whether torpedo hot metal mixer car passes through rail track switch,
(6) industrial computer and log judge whether to arrive the work station point that should stop,
(7) industrial computer is with the satellite longitude and latitude data received and the electronic map match of torpedo hot metal mixer car perform region, revise calibration, locomotive stop stable after, the accurate dynamic location information of torpedo hot metal mixer car such as license number, position, direction, speed etc. are sent to Control Centre's computing machine of enterprise.
Judge whether through rail track switch flow process to be: the computing machine of take over party's level sensor module sends the interrogating signal that whether needs the aspect sensor data, then send querying command as needs to aspect sensor, and judge whether the aspect sensor data of receiving are correct, if the angle of aspect sensor greater than 7～8 °, then is process track switch; If the angle of aspect sensor, then judges it is not through track switch less than 7～8 °.
The flow process of log operational module is in this method: computing machine judges whether the data of DGPS receiver are reliable, as reliably then handling by the normal information exchange mode; As the unreliable log that then starts, calculate or the DR position of tabling look-up in the laggard line number of the information of having the records of distance by the log that receives log, and continue to judge whether the data of DGPS receiver are reliable, successively circulation.
Below in conjunction with accompanying drawing the present invention is described in detail.
Fig. 1 is the device circuit block diagram of torpedo hot metal mixer car apparatus for real time tracking of the present invention.
Fig. 2 is the main process flow diagram of torpedo hot metal mixer car method for real time tracking of the present invention.
Fig. 3 is the process flow diagram of judging among Fig. 2 through rail track switch module.
Fig. 4 is the process flow diagram that sends locomotive stop position information module among Fig. 2.
Fig. 5 is the process flow diagram of calibration satellite data module among Fig. 2.
Fig. 6 is the process flow diagram of log operational module among Fig. 2.
Fig. 7 is the process flow diagram of work station point sending module among Fig. 2.
Fig. 8 is the process flow diagram of ID sign indicating number identification module among Fig. 2.
Referring to Fig. 1, device of the present invention is installed on torpedo hot metal mixer car and the locomotive, comprise DGPS Receiver 1, industrial computer 2, broadband communication machine 3, direct supply 6, be to gather the latitude and longitude information that DGPS Receiver 1 transmits by industrial computer 2, handle by certain calculation, obtain the position data of vehicle, and this position data is sent to the Control Centre of enterprise by communication machine 3, Control Centre carries out Real time dynamic display according to this position data.
The geographical longitude and latitude data that the present invention adopts are for accurately measuring the coordinate of torpedo hot metal mixer car operation area (error is a centimetre-sized) in advance, and be divided into some districts, section, point, form database, known precise information contrast with the data that record in real time and database, by district → section → judge, can improve precision and arithmetic speed greatly huge data compaction to finishing like this with industrial computer.
Mobile unit of the present invention is an integrated navigation system, the data of measuring are because environment is abominable in real time, the data that obtain usually data are accurate inadequately, the present invention is when handling the data of real-time measurement, GPS receiving sensor and log also are housed, and GPS sensor and log are all given the industrial computer buffer memory with locating information and mileage information simultaneously.When locomotive operation was outside factory building, DGPS Receiver was according to global position system and the present accurate longitude and latitude positional information of differential corrections data logging machine car at ordinary times.When locomotive entered the factory building satellite-signal and is blocked, DGPS Receiver can't be oriented locomotive longitude and latitude accurately, but industrial computer is extrapolated the run location data of locomotive then according to the numerical value of time spent of the information of log 4 and GPS value.
This log has high precision code-disc sensor, and has the follower of a little inertia, has the records of distance by the log through the friction rail.This log can overcome torpedo hot metal mixer car wheel-slip when starting that weight is 200 tons of (zero load)～500 ton (being fully loaded with); And when brake wheel fastening motionless and torpedo hot metal mixer car inertia slides, the torpedo hot metal mixer car general distance of will sliding can improve the precision of having the records of distance by the log like this and reach per mille as a result.
Place, fork, road at the blast furnace railway, change which turnout in order to distinguish locomotive, then handle the angle-data of aspect sensor output, judge according to the changing value of angle which turnout locomotive enters, if the angle of aspect sensor greater than 7～8 °, then is process track switch; If the angle of aspect sensor, then judges it is not through track switch less than 7～8 °.This aspect sensor is a direction sensor that has circuit, optical fibre gyro, and it is high to the direction of motion changing sensitivity.
Below in conjunction with accompanying drawing method of the present invention is described in detail.
Fig. 2 is the main process flow diagram of torpedo hot metal mixer car method for real time tracking of the present invention, the present invention handles the data of various approach collections by above-mentioned torpedo hot metal mixer car apparatus for real time tracking, and the positional information of the torpedo hot metal mixer car that obtained is passed to Control Centre's computing machine of enterprise, simultaneously in time obtain differential corrections information from Control Centre, the output torpedo hot metal mixer car is longitude and latitude positional information accurately in real time, dynamically shows on the giant-screen of Control Centre.
Main process of the present invention is: startup, equipment self-inspection are also inserted initial value, then restart if any problem, and industrial computer judges whether to read the license number of torpedo hot metal mixer car then, then call ID sign indicating number generation subroutine as not reading license number; As read license number, then judge by vehicle-mounted DGPS machine whether satellite-signal is blocked by high-lager buildings such as factory buildings, as be blocked and then start log DR position subroutine.Judge whether to accept satnav information by the DGPS machine then and carry out the longitude and latitude location, whether be not blocked if accept satnav information then rejudge satellite-signal, if the DGPS machine is to accept satnav information to carry out the longitude and latitude location, judge further then whether radio communication apparatus receives the accurate correction position information from the difference station, if not, then call the correction position information subroutine that receives the difference station, if what accept is precise position information, then judge whether through railway switch by industrial computer and aspect sensor, if called side level sensor estimator program then, judge whether to arrive parking spot (work station point) if not then testing the speed by industrial computer and log, torpedo hot metal mixer car sends information to the work station point that will arrive, as arrive work station point then by radio communication apparatus time-delay certain hour, industrial computer judges that torpedo hot metal mixer car arrives work station point and sends the torpedo hot metal mixer car position after a period of stabilisation, license number, information such as direction, treat that the stable back of car sends torpedo hot metal mixer car license number and positional information to Control Centre or license number collector, if judge not arrive work station point, then accurate dynamic location information and license number are regularly delivered to radio communication apparatus and send to Control Centre by industrial computer.
The difference information that send at communication machine 8 receiving control centers, then this difference information is delivered to DGPS receiver 1, receive the locator data of DGPS receiver simultaneously, search in industrial computer 2 canned datas according to locator data and to draw its positional information, if DGPS information is unavailable, then carrying out the position calculates, information according to aspect sensor (optical fibre gyro) 5 judges whether to turn round and can carry out continuous real-time positioning to torpedo hot metal mixer car simultaneously, and positional information is sent to relay station by communication machine 8, and relay station is given Control Centre again and is carried out processes and displays.
During through switch area, from switch blade, a very long segment distance is arranged in the vehicle ' of iron and steel enterprise inside, the centre distance between two rails is less than 3 meters, and relying on this moment differential GPS to distinguish vehicle separately, to enter which bar rail be impossible.The azimuth information that need provide this moment according to GPS or increase aspect sensor (optical fibre gyro) on vehicle provides azimuth information, is judging that by industrial computer which torpedo hot metal mixer car entering to rail.
Referring to Fig. 3, the method of take over party's level sensor data is: send whether need request signal by computing machine to aspect sensor, as needs, then send querying command to aspect sensor, judge whether the data of receiving are correct, then carry out returning after the mathematics manipulation as correct data after receiving the aspect sensor data.If the angle of aspect sensor greater than 7～8 °, then is process track switch; If the angle of aspect sensor, then judges it is not through track switch less than 7～8 °.
Whether referring to Fig. 4, locomotive: judge that at first locomotive stops, and calculate timing and arrived, if timing has arrived, then send the position of current locomotive to Control Centre, data send and finish to send out end mark if stopping back timed sending positional information flow process and is.
Referring to Fig. 5, the flow process that latitude and longitude information to satellite transmission is calibrated, revised is: computing machine 2 is received the data that transmit from communication machine 3, at first judge whether it is 0DH (end mark), if, then store and handle, judge whether to be difference information then, then call the difference processing subroutine in this way, deliver to DGPS Receiver 1 after the processing; As not being difference information, then judge whether out of Memory into Control Centre's transmission, if handling subroutine, recalls information handles; As not being then to be judged as garbage.Owing to just can reach 1～2 meter of torpedo hot metal mixer car permissible accuracy after the general error of position information that obtains from satellite generally at 100～200 meters, therefore must be mated with the electronic chart of enterprise, calibrate.
Referring to Fig. 6, log 4 among the present invention is to carry out the position in order to fall after its satellite-signal conductively-closed after locomotive enters factory building to calculate, its workflow is: computing machine judges whether the data of DGPS receiver 1 are reliable, as reliably then handling by the normal information exchange mode; As the unreliable log 4 that then starts, calculate or the DR position of tabling look-up in the laggard line number of the information of having the records of distance by the log that receives log, and continue to judge whether the data of DGPS receiver are reliable, circulation can be received until locomotive till the signal of satellite successively.
Referring to Fig. 7, the present invention to the flow process that work station point sends data is: at first judge whether to arrive work station point, as arrive work station point then sends license number from this locomotive to the control computer of work station point and traffic direction information, by computer control time-delay a period of time, computing machine by Control Centre is put sign for this locomotive, data send, and end mark is sent out in the back that finishes.
In order to distinguish a plurality of torpedo hot metal mixer cars, each torpedo hot metal mixer car is provided with the ID sign indicating number, and referring to Fig. 8, torpedo hot metal mixer car ID sign indicating number identification process is among the present invention: whether at first industrial computer is judged the ID of this locomotive sign indicating number in its internal memory, if any then returning; As do not have, then the ID sign indicating number device on locomotive sends querying command, receives the ID sign indicating number that locomotive sends, and then the ID sign indicating number is stored in the particular memory unit of industrial computer.
Compared with prior art, the present invention adopts differential global positioning system to cooperate the essence that records in advance Really database is processed+the log correction the data of actual measurement, by inferring, calculating Running status to torpedo hot metal mixer car is carried out real-time tracking, and the real-time exact position that obtains torpedo hot metal mixer car reaches Prior leading 1 second exact position overcomes because of display delay 4 seconds and locomotive speed 7 meter per seconds and makes The dynamic position error that becomes, with its running and in factory building the stop state of work station point Information reporting is given Control Centre; And simultaneously the license number of torpedo hot metal mixer car is transported to work station point such as blast furnace Or iron-smelter. Communication wireless penetration of the present invention, it is few to have a ground installation, maintenance side Just, the advanced advantage such as reliable.
Claims (6)
1. torpedo hot metal mixer car apparatus for real time tracking, it comprises the differential position system receiver [1] that receives global satellite positioning signals, receiver [1] is with the signal input industrial computer [2] that receives, industrial computer [2] and the communication machine of accepting and the transmission data are used [3], ID recognizer [7] and the power supply [6] of identification torpedo hot metal mixer car ID join, use the electronic chart in zone and satellite-signal to mate the back round-off error torpedo hot metal mixer car, obtain the longitude and latitude data message of torpedo hot metal mixer car, it is characterized in that: this device is installed on torpedo hot metal mixer car and/or the locomotive, store in the torpedo hot metal mixer car perform region longitude and latitude and positional information high accuracy data one to one in the industrial computer [2], with the satellite longitude and latitude Data Matching of receiving, revise calibration, will obtain by communication machine [3], the accurate dynamic location information of torpedo hot metal mixer car: license number, the position, direction, speed is real-time, send to Control Centre's computing machine of enterprise continuously.
2. torpedo hot metal mixer car apparatus for real time tracking according to claim 1, it is characterized in that: this device also is included in the log [4] that piloting is used in the factory building, when locomotive enters the satellite-signal blocked area, DGPS Receiver [1] can't be oriented locomotive longitude and latitude accurately, the information of the having the records of distance by the log input industrial computer [2] of log [4], but and, extrapolate the run location data of locomotive in conjunction with the numerical value of time spent of GPS value.
3. torpedo hot metal mixer car apparatus for real time tracking according to claim 1 is characterized in that: this device also comprises aspect sensor [5], is connected with industrial computer [2], judges whether through track switch.
4. torpedo hot metal mixer car method for real time tracking, it is characterized in that: this method may further comprise the steps:
(1) the ID sign indicating number of industrial computer identification torpedo hot metal mixer car,
(2) industrial computer judges whether torpedo hot metal mixer car enters the satellite-signal district that is blocked, if then start log work, if not then
(3) vehicle-mounted DGPS machine judges whether to accept satnav information and positions,
(4) judge whether radio communication apparatus accepts the accurate correction position information from the difference station,
(5) industrial computer and aspect sensor judge whether torpedo hot metal mixer car passes through rail track switch,
(6) industrial computer and log judge whether to arrive the work station point that should stop,
(7) industrial computer is with the satellite longitude and latitude data received and the electronic map match of torpedo hot metal mixer car perform region, revise calibration, locomotive stop stable after, with the accurate dynamic location information of torpedo hot metal mixer car: license number, position, direction, speed send to Control Centre's computing machine of enterprise.
5. torpedo hot metal mixer car method for real time tracking according to claim 4, it is characterized in that: described judging whether through rail track switch step is: the computing machine of take over party's level sensor module sends the interrogating signal that whether needs the aspect sensor data, then send querying command as needs to aspect sensor, and judge whether the aspect sensor data of receiving are correct, if the angle of aspect sensor greater than 7～8 °, then is process track switch; If the angle of aspect sensor, then judges it is not through track switch less than 7～8 °.
6. torpedo hot metal mixer car method for real time tracking according to claim 4 is characterized in that: the step of described log operational module is: industrial computer judges whether the data of DGPS receiver are reliable, as reliably then handling by the normal information exchange mode; As the unreliable log that then starts, calculate or the DR position of tabling look-up in the laggard line number of the information of having the records of distance by the log that receives log, and continue to judge whether the data of DGPS receiver are reliable, successively circulation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 99103403 CN1115666C (en) | 1999-03-26 | 1999-03-26 | Real-time tracking device and method for molten iron mixer |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 99103403 CN1115666C (en) | 1999-03-26 | 1999-03-26 | Real-time tracking device and method for molten iron mixer |
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| Publication Number | Publication Date |
|---|---|
| CN1239227A CN1239227A (en) | 1999-12-22 |
| CN1115666C true CN1115666C (en) | 2003-07-23 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN 99103403 Expired - Fee Related CN1115666C (en) | 1999-03-26 | 1999-03-26 | Real-time tracking device and method for molten iron mixer |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN100503333C (en) * | 2007-01-16 | 2009-06-24 | 重庆大学 | Multi-point positioning system for round-trip travel of rail cars |
| CN103344844B (en) * | 2013-05-31 | 2015-09-30 | 国家电网公司 | The alarming method for power of power grid security warning terminal |
| CN113780753B (en) * | 2021-08-20 | 2024-10-22 | 深圳市广和通无线股份有限公司 | Data processing method, device, computer equipment and storage medium |
| JP7456461B2 (en) | 2021-10-18 | 2024-03-27 | Ｊｆｅスチール株式会社 | Operation schedule formulation support system and operation schedule formulation support method for hot metal transport containers |
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| CN1239227A (en) | 1999-12-22 |
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Owner name: BAOSHAN IRON & STEEL CO., LTD. Free format text: FORMER OWNER: BAOSHAN STEEL GROUP IRON AND STEEL CO LTD Effective date: 20011210 |
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Effective date of registration: 20011210 Address after: Orchard, Fujin Road, Baoshan District, Shanghai Applicant after: Baoshan Iron & Steel Co., Ltd. Address before: No. 1, middle section, factory road, Shanghai, Baoshan District Applicant before: Baoshan Iron & Steel (Group) Co., Ltd. |
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Granted publication date: 20030723 Termination date: 20140326 |