CN114906239A - Intelligent trackless train, super-long cargo transport vehicle and forward and reverse control method - Google Patents
Intelligent trackless train, super-long cargo transport vehicle and forward and reverse control method Download PDFInfo
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- CN114906239A CN114906239A CN202210449940.3A CN202210449940A CN114906239A CN 114906239 A CN114906239 A CN 114906239A CN 202210449940 A CN202210449940 A CN 202210449940A CN 114906239 A CN114906239 A CN 114906239A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D53/00—Tractor-trailer combinations; Road trains
- B62D53/005—Combinations with at least three axles and comprising two or more articulated parts
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60D—VEHICLE CONNECTIONS
- B60D1/00—Traction couplings; Hitches; Draw-gear; Towing devices
- B60D1/01—Traction couplings or hitches characterised by their type
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L50/00—Electric propulsion with power supplied within the vehicle
- B60L50/50—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D12/00—Steering specially adapted for vehicles operating in tandem or having pivotally connected frames
- B62D12/02—Steering specially adapted for vehicles operating in tandem or having pivotally connected frames for vehicles operating in tandem
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D59/00—Trailers with driven ground wheels or the like
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T30/00—Transportation of goods or passengers via railways, e.g. energy recovery or reducing air resistance
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Abstract
The invention relates to an intelligent trackless train, an ultra-long cargo transport vehicle and a forward and reverse control method.A tractor and a trailer are combined, and the train running of a plurality of vehicles is realized on the basis of the forward and reverse control method; and meanwhile, the range extender trailer is positioned at the tail part of the driving queue, so that the battery replacement and storage are convenient, the driving mileage of the vehicle can be effectively increased, and the cruising ability is strong.
Description
Technical Field
The invention relates to the technical field of vehicle engineering, in particular to an intelligent trackless train, an ultra-long cargo transport vehicle and a forward and reverse control method.
Background
In the field of vehicle engineering, the development of improving driving efficiency, reducing energy consumption and improving vehicle endurance is an important direction and an important target; at present, if large commercial vehicles, particularly freight vehicles can run in a row and realize electric operation, the driving efficiency can be greatly improved, the energy consumption cost is greatly reduced, and the method has important significance for carbon neutralization when the carbon reaches the peak; however, when the highway train turns, the running tracks of the front and rear vehicles are not consistent, and the energy consumption of the large commercial vehicle, particularly a heavy truck, is high; for the two reasons, on one hand, normal running of a long road train is difficult to realize, and on the other hand, due to the limited energy density of the chemical power battery, the popularization of a large electric vehicle is still difficult.
If the automatic steering control of the vehicle can be realized and the vehicle can intelligently run in a row, the driving efficiency can be greatly improved; meanwhile, the range extender is a feasible energy compensation scheme for the electric vehicle, and the existing range extender is complex and inconvenient to operate and use; therefore, the invention develops an intelligent trackless train, an ultra-long cargo transport vehicle and a forward and reverse control method to solve the problems in the prior art, and a technical scheme which is the same as or similar to the invention is not found through retrieval.
Disclosure of Invention
The invention aims to: the intelligent trackless train, the overlong cargo transport vehicle and the forward and reverse control method are provided, so that the problem that driving efficiency is difficult to improve due to high difficulty in train running of vehicles in the prior art is solved, and the problem that the endurance mileage of a large electric vehicle is short is solved.
The technical scheme of the invention is as follows: the utility model provides an intelligence trackless train, its innovation point lies in, includes:
the system comprises a plurality of vehicles running in a row, a plurality of control devices and a control system, wherein the vehicles running in the row comprise a tractor running at the head and a plurality of trailers running along with the tractor, and the trailers are range extender trailers positioned at the tail of a running queue;
and the positioning and steering control module is implanted into all vehicles, acquires the driving track of the vehicle at the head position along the driving direction when the vehicle advances and backs the vehicle, and controls other vehicles to steer along the driving track.
Preferably, the positioning and steering control module includes:
the positioning modules are respectively implanted into each vehicle to acquire real-time position information of the axle center point of each trailer relative to the tractor;
the inertial navigation module is implanted into the tractor and used for resolving a running track of a vehicle at the head position along the running direction;
and the steering controller and the electric steering mechanism are respectively implanted into each vehicle and can control the steering of each trailer.
Preferably, the trailer further comprises an electric driving mechanism for providing power, and a hinging mechanism for realizing the hinging of the front vehicle and the rear vehicle; the positioning module comprises an angle measuring device, and the angle measuring device is arranged on the hinge mechanism;
the hinge mechanism comprises a front vehicle hinge part fixed with the tail of a front vehicle and a rear vehicle hinge part fixed with the front of a rear vehicle, the front vehicle hinge part is provided with a hinge main pin, and the rear vehicle hinge part is provided with a hinge ring which is matched with the hinge main pin to realize hinge;
the angle measuring device comprises a sensor base, a jackscrew, an angle sensor, a bracket, a universal transmission shaft, a spline groove and a spline; the sensor base is fixed on the front vehicle hinge part and is coaxial with the hinge main pin; the angle sensor is fixed in the sensor base and is provided with a stator and a rotor; the bracket is fixed on the rear vehicle hinge part, and the spline is arranged on the upper part of the bracket and is coaxial with the hinge ring; universal joints are respectively arranged at two ends of the universal transmission shaft, one universal joint is fixedly connected with a rotor of the angle sensor, the other universal joint is fixedly connected with a spline, and the spline is in plug-in fit in a spline groove.
Preferably, the range extender trailer further comprises a power supply and a fairing, the power supply can adopt one or a combination of a plurality of chemical batteries, fuel batteries and generators, and the shape of the fairing is matched with that of the front vehicle, so that the whole train is streamlined.
Based on an intelligent trackless train, the invention also develops an overlong cargo transport vehicle which comprises the tractor, a trailer, a positioning and steering control module implanted in the tractor and the trailer, a pin shaft arranged on the tractor and a steering tray inserted into the pin shaft, wherein the steering tray can rotate around the pin shaft;
one end of the overlong cargo is fixed on a steering tray, the other end of the overlong cargo is fixed on a trailer, and the trailer runs and turns along the running track of the tractor under the action of the positioning and steering control module.
Based on an intelligent trackless train, the invention also develops a vehicle forward control method, which comprises the following steps:
(1) defining a coordinate system and a time sequence to the center point F of the front axle of the tractor 1 A coordinate system Z is defined, wherein one side of the car body, which faces the car head, along the direction of the car body is the positive Y-axis direction, and the other side of the car body, which is perpendicular to the direction of the car body and faces the right side of the car body, is the positive X-axis direction;
defining a time sequence k, wherein any time is k time;
(2) initializing, wherein k is 0;
(3) after a time Δ t, the time series k is increased by 1, i.e. k equals k + 1;
(4) the positioning module calculates the position coordinates of each trailer in a tractor coordinate system;
(5) the inertial navigation module calculates a tractor driving track based on a tractor coordinate system;
(6) the steering controller controls the electric steering mechanism corresponding to each trailer to realize steering based on the coordinate value of the axle center point of each trailer in the coordinate system and the driving track of the tractor;
(7) if the vehicle exits the driving state, the step is finished; and (5) if the vehicle continues to run, returning to the step (3).
Preferably, in the step (4), the position coordinates of each trailer in the tractor coordinate system are determined by using an angle measuring device between vehicles, and the specific method is as follows:
when relative rotation angles of front and rear vehicles occur, spline grooves fixedly arranged on the rear vehicle hinged parts drive the splines to rotate, and the universal transmission shaft drives the rotor of the angle sensor to rotate, so that the relative rotation angles of the front and rear vehicles are measured, and the relative position relation of each trailer and the coordinates of the trailer under a tractor coordinate system are further calculated by combining a vehicle size chain.
Preferably, in the step (5), the method for calculating the travel track of the tractor based on the own coordinate system includes:
(1) giving the coordinates of the central point of the front axle of the tractor at the moment k, and giving the central point F of the front axle of the tractor at the moment k 1 Is the origin of coordinates with coordinates F 1k (x 1k ＝0,y 1k ＝0)；
(2) Calculating the variation parameter of the coordinate system Z from the k-1 moment to the k moment, wherein the rotation angle theta of the tractor from the k-1 moment to the k moment is calculated k ，θ k ＝ω k *Δt，ω k The rotation angular velocity of the tractor at the moment k can be measured by a gyroscope of the inertial navigation module; the central point F of the front axle of the tractor is monitored by a speed sensor arranged on the tractor 1 Velocity at time k is v k Solving:
x-axis variation a ═ Δ t × v k *sinθ k ，
Y-axis variation b ═ Δ t ═ v k *cosθ k ；
(3) Coordinate transformation is carried out, wherein the time k-1 is before the time k-1 and comprises the time k-1, F 1 (F 1k-1 ,F 1k-2 ,…,F 1k-n ) Is transformed into coordinate values of a coordinate system of the current time k, wherein the origin of coordinates is represented by F 1k-1 Conversion to F 1k Angle of rotation theta of coordinate system k The transformed X-axis and Y-axis coordinate values are respectively:
x 1m ’＝(x 1m -a)*cosθ k +(y 1m -b)*sinθ k ，
y 1m ’＝(y 1m -b)*cosθ k -(x 1m -a)*sinθ k ；
wherein m takes the values of k-1, k-2, … … and k-n in sequence; defining the axle center point of the trailer as F R Axle center point F of the trailer at time k R The coordinate value of Y axis in the coordinate system of the tractor is Y RK This value can be resolved by the positioning module; need to guarantee y 1m ’＞y RK To determine the value of n when y 1m ’＜y RK Then this point is already behind the rear trailer axle;
(4) according to a front axle central point F in the running process of the tractor under a current time (K time) coordinate system 1 Coordinate position F at different times 1k ,F 1k-1 ,F 1k-2 ,…,F 1k-n The driving track can be fitted.
Based on an intelligent trackless train, the invention also develops a vehicle reversing control method, which comprises the following steps:
when backing, the electric steering mechanism of the trailer at the tail of the driving train is controlled through a steering wheel in the tractor, and the trailer at the tail of the driving train is directly controlled to steer; the steering of other vehicles is controlled by a positioning and steering control module, and the automatic steering of each vehicle along the track of the trailer at the tail part is controlled by acquiring the driving track of the central point of the axle of the trailer at the tail part;
the method comprises the following specific steps:
(1) defining a coordinate system and a time sequence; by the central point F of the front axle of the tractor 1 A coordinate system Z is defined by taking the coordinate as an original point, taking the Y-axis positive direction on one side facing the vehicle head along the direction of the vehicle body and taking the X-axis positive direction on the other side perpendicular to the direction of the vehicle body and facing the right side of the vehicle body;
defining a time sequence k, wherein any time is k time;
(2) initializing, wherein k is 0;
(3) after a time Δ t, the time series k is increased by 1, i.e. k equals k + 1;
(4) the positioning module calculates the position coordinates of the central point of each vehicle axle in the tractor coordinate system;
(5) the inertial navigation module calculates the driving track of the trailer at the tail part based on a tractor coordinate system;
(6) except for the trailer, a steering controller of each vehicle, which comprises a tractor and other trailers, controls an electric steering mechanism of each vehicle based on the coordinate value of each vehicle under the coordinate system and the running track of the trailer at the tail part, so that each vehicle backs up along the track of the trailer at the tail part;
(7) if the vehicle exits the driving state, the step is finished; and (5) if the vehicle continues to run, returning to the step (3). Preferably, the method for calculating the driving track of the trailer at the tail end in the step (5) is specifically as follows:
(1) the positioning module calculates the axle center point F of the trailer at the current moment in a coordinate system Z R Coordinate value F of Rk (x Rk ，y Rk )；
(2) Calculating the variation parameter of the coordinate system Z from the k-1 moment to the k moment, wherein the rotation angle theta of the tractor from the k-1 moment to the k moment is calculated k ，θ k ＝ω k *Δt，ω k The rotation angular velocity of the tractor at the moment k can be measured by a gyroscope of the inertial navigation module; the central point F of the front axle of the tractor is monitored by a speed sensor arranged on the tractor 1 Velocity at time k is v k Solving:
x-axis variation a ═ Δ t × v k *sinθ k ，
Y-axis variation b ═ Δ t ═ v k *cosθ k ；
(3) Coordinate transformation is carried out, wherein the time point k-1 is before and comprises the time point k-1, F R (F Rk-1 ,F Rk-2 ,…,F Rk-n ) Is transformed into coordinate values of a coordinate system of the current time k, wherein the origin of coordinates is represented by F 1k-1 Conversion to F 1k Angle of rotation theta of coordinate system k The transformed X-axis and Y-axis coordinate values are respectively:
X Rm ’＝(x Rm -a)*cosθ k +(y Rm -b)*sinθ k ，
Y Rm ’＝(y Rm -b)*cosθ k -(x Rm -a)*sinθ k ；
wherein m is k-1, k-2, … …, k-n in sequence, and y is ensured Rm ’<0, to determine the value of n, when backing up, the driving direction is the front, when y Rm ’>0, this point is now already behind the direction of travel of the front axle of the tractor;
(4) according to the axle center point F in the running process of the trailer under the current K time coordinate system R Position F at different times Rk ,F Rk-1 ,F Rk-2 ,…,F Rk-n The driving track can be fitted.
Compared with the prior art, the invention has the advantages that:
(1) the tractor and the trailer are combined, and the train running of the vehicle is realized on the basis of the forward and reverse control method, so that the driving efficiency can be greatly improved; and meanwhile, the range extender trailer is positioned at the tail part of the driving queue, so that the battery replacement and storage are convenient, the driving mileage of the vehicle can be effectively increased, and the cruising ability is strong.
(2) The range extender trailer has the function of providing electric energy and has various forms including one or more of a chemical battery, a fuel cell and a generator; an independent transport carrier is adopted, and almost unattended operation can be realized only by a parking space and a charging pile; the whole structure is flexibly arranged, so that the large-scale electric vehicle can run across the weather and in a long distance, and can be used as a mobile charging power supply of a passenger vehicle; the outer cover is provided with a fairing, so that the air resistance of the vehicle is reduced.
Drawings
The invention is further described with reference to the following figures and examples:
FIG. 1 is a top view of an intelligent trackless train of the present invention;
FIG. 2 is an enlarged view of the hinge mechanism and angle sensor of the present invention;
FIG. 3 is an enlarged view of the arrangement of the range extender trailer of the present invention;
FIG. 4 is a schematic structural view of an ultra-long cargo transporter in accordance with the present invention;
FIG. 5 is a flow chart of a method for controlling forward motion of a vehicle according to the present invention;
fig. 6 is a flowchart of a vehicle reverse control method according to the present invention.
Wherein: 1. a tractor;
2. a trailer 21, an electric drive mechanism;
3. a range extender trailer 31, a fairing;
4. a hinge mechanism 41, a front vehicle hinge part 42, a rear vehicle hinge part 43, a main pin 44 and a hinge ring;
5. the device comprises an angle measuring device 51, a sensor base 52, an angle sensor 53, a bracket 54, a universal transmission shaft 55, a spline groove 56 and a spline;
6. steering wheel, 61, pin.
Detailed Description
The present invention will be further described in detail with reference to the following specific examples:
an intelligent trackless train comprises a plurality of vehicles running in a row and a positioning and steering control module.
As shown in fig. 1, the vehicles running in a plurality of rows comprise a tractor 1 running at the head and a plurality of trailers 2 running along with the tractor 1, wherein the trailers 2 are range extender trailers 3 at the tail of the running row; the trailer 2 further comprises an electric drive 21 for providing power, a hinge 4 for articulation of the vehicle to and from the front and rear, and an angle measuring device 5 mounted on the hinge 4.
The electric driving mechanism 21 is used for providing power for the trailer 2, increasing the power performance of the vehicle, and the climbing acceleration is more flexible, and the power of the tractor 1 can be reduced under the same power requirement.
As shown in fig. 2, the hinge mechanism 4 includes a front hinge 41 fixed to the rear of the front vehicle and a rear hinge 42 fixed to the front of the rear vehicle, the front hinge 41 having a hinge main pin 43, and the rear hinge 42 having a hinge ring 44 engaged with the hinge main pin 43 to hinge.
As shown in fig. 2, the angle measuring device 5 includes a sensor base 51, a jack screw, an angle sensor 52, a bracket 53, a universal drive shaft 54, a spline groove 55, and a spline 56; the sensor base 51 is fixed to the front vehicle hinge 41 and is coaxial with the hinge master pin 43; the angle sensor 52 is fixed in the sensor base 51, and has a stator and a rotor; the bracket 53 is fixed to the rear vehicle articulation 42, on the upper part of which is arranged a spline 56, coaxial with the articulation ring 44; the universal joints are respectively arranged at two ends of the universal transmission shaft 54, one universal joint is fixedly connected with the rotor of the angle sensor 52, the other universal joint is fixedly connected with the spline 56, and the spline 56 is in plug-in fit in the spline groove 55.
The range extender trailer 3 further comprises a power supply and a fairing 31, wherein the power supply can adopt one or a combination of more of a chemical battery, a fuel cell and a generator, and is generally the chemical battery mainly because the fuel cell is high in price at present and small in power; under special conditions, when the chemical battery or the fuel battery is inconvenient to use, the chemical battery or the fuel battery can be replaced by a fuel generator; if the battery is used under special weather conditions such as high cold and high temperature, or under the condition that the chemical battery cannot meet the requirements when the battery is driven in mountainous areas; as shown in fig. 3, the cowling 31 is streamlined to reduce the air resistance of the vehicle; when the vehicle runs at a high speed, the energy consumption is consumed in the air resistance to a considerable extent; the air resistance of the vehicle is not only due to the increase of the front air flow pressure, but rather to a considerable extent results from the decrease of the rear air flow pressure; the shape of the fairing 31 is matched with that of a vehicle in front, so that the whole train is streamline, the shape of a vehicle wake flow field can be effectively improved under the condition that the shape of the head of the train is not changed, the integral pressure of tail air flow is relatively increased, and the air resistance is greatly reduced.
The range extender trailer 3 is hinged to the tail of the vehicle, and can be replaced in a power exchange station when the electric quantity is used up, and only the hinged mechanism 4 needs to be unlocked and unhooked, and a new range extender trailer 3 needs to be replaced; if the replaced range extender is a chemical battery range extender, charging is carried out; if the fuel cell is the fuel cell, hydrogen is added; in the case of the range extender of the fuel oil generator, the fuel oil or other fuel can be refilled.
The positioning and steering control module is implanted into all vehicles, acquires the driving track of the vehicle at the head position along the driving direction when the vehicle advances and backs the vehicle, and controls other vehicles to steer along the driving track; the device mainly comprises a positioning module, an inertial navigation module, a steering controller and an electric steering mechanism; the positioning module is respectively implanted into each vehicle to obtain the real-time position information of the axle center point of each trailer 2 relative to the tractor 1, the angle measuring device 5 arranged on the hinge mechanism 4 belongs to the component part of the positioning module, and the function of the angle measuring device 5 is as follows: because the relative motion between the front vehicle and the rear vehicle is complex, namely the relative motion along an X axis, a Y axis and a Z axis is included, and the relative rotation along the X axis, the Y axis and the Z axis is also included; the angle measuring device 5 in the embodiment can measure the relative horizontal rotation angle of the front vehicle and the rear vehicle with higher precision under the condition that the front vehicle and the rear vehicle relatively move in a complex way; the inertial navigation module generally comprises a gyroscope and a vehicle speed sensor, is implanted into the tractor 1 and is used for resolving a driving track of a vehicle at the head position along the driving direction; a steering controller and an electric steering mechanism are respectively embedded in each vehicle, and can control the steering of each trailer 2.
As shown in fig. 4, based on an intelligent trackless train, the invention also develops an ultra-long cargo transporter, which comprises the tractor 1 and a trailer 2, positioning and steering control modules implanted into the tractor 1 and the trailer 2, a pin 61 arranged on the tractor 1, and a steering tray 6 inserted into the pin 61, wherein the steering tray 6 can rotate around the pin 61; one end of the overlong cargo is fixed on a steering tray 6, the other end of the overlong cargo is fixed on a trailer 2, and the trailer 2 runs and turns along the running track of the tractor 1 under the action of a positioning and steering control module.
In the embodiment, a hinge mechanism 4 is not required to be arranged between the tractor 1 and the trailer 2, and the overlong goods serve as a connecting piece for connecting the tractor 1 and the trailer 2; meanwhile, a range extender trailer 3 can be arranged behind the trailer 2.
Based on an intelligent trackless train, the invention also develops a vehicle forward control method, as shown in fig. 5, the forward control method is as follows:
A. defining a coordinate system and a time sequence, taking a central point F1 of a front axle of the tractor as a coordinate origin, wherein one side along the direction of the vehicle body and facing the vehicle head is a positive Y-axis direction, and the side perpendicular to the direction of the vehicle body and facing the right side of the vehicle body is a positive X-axis direction, and defining a coordinate system Z;
defining a time sequence k, wherein any time is k time;
B. initializing, wherein k is 0;
C. after a time Δ t, the time series k is increased by 1, i.e. k equals k + 1;
D. the positioning module adopts an angle measuring device between vehicles to determine the position coordinates of each trailer under a tractor coordinate system, when the front vehicle and the rear vehicle generate relative rotation angles, spline grooves fixedly arranged on a rear vehicle hinged part drive splines to rotate, and a rotor of an angle sensor is driven to rotate through a universal transmission shaft, so that the relative rotation angles between the front vehicle and the rear vehicle are measured, and the relative position relation of each trailer and the coordinates under the tractor coordinate system are further calculated by combining a vehicle size chain;
E. the inertia navigation module calculates the driving track of the tractor based on the coordinate system of the tractor, and the inertia navigation module specifically comprises the following steps:
(1) giving the coordinates of the central point of the front axle of the tractor at the moment k, and giving the central point F of the front axle of the tractor at the moment k 1 Is the origin of coordinates with coordinates F 1k (x 1k ＝0,y 1k ＝0)；
(2) Calculating the variation parameter of the coordinate system Z from the k-1 moment to the k moment, wherein the rotation angle theta of the tractor from the k-1 moment to the k moment is calculated k ，θ k ＝ω k *Δt，ω k The rotation angular velocity of the tractor at the moment k can be measured by a gyroscope of the inertial navigation module; the central point F of the front axle of the tractor is monitored by a speed sensor arranged on the tractor 1 Velocity at time k is v k Solving:
x-axis variation a ═ Δ t × v k *sinθ k ，
Y-axis variation b ═ Δ t ═ v k *cosθ k ；
(3) Coordinate transformation is carried out, wherein the time point k-1 is before and comprises the time point k-1, F 1 (F 1k-1 ,F 1k-2 ,…,F 1k-n ) Is transformed into coordinate values of a coordinate system of the current time k, wherein the origin of coordinates is represented by F 1k-1 Conversion to F 1k Angle of rotation theta of coordinate system k The transformed X-axis and Y-axis coordinate values are respectively:
x 1m ’＝(x 1m -a)*cosθ k +(y 1m -b)*sinθ k ，
y 1m ’＝(y 1m -b)*cosθ k -(x 1m -a)*sinθ k ；
wherein m takes the values of k-1, k-2, … … and k-n in sequence; defining trailer at the rearAxle center point is F R At time k, the axle center point F of the trailer R The coordinate value of Y axis in the coordinate system of the tractor is Y RK This value can be resolved by the positioning module; need to guarantee y 1m ’＞y RK To determine the value of n when y 1m ’＜y RK Then this point is already behind the rear trailer axle;
(4) according to a front axle central point F in the running process of the tractor under a current time (K time) coordinate system 1 Coordinate position F at different times 1k ,F 1k-1 ,F 1k-2 ,…,F 1k-n The driving track can be fitted.
F. And the steering controller controls the electric steering mechanism corresponding to each trailer to realize steering based on the coordinate value of the axle center point of each trailer in the coordinate system and the driving track of the tractor.
G. If the vehicle exits the driving state, the step is finished; and if the vehicle continues to run, returning to the step C.
Based on an intelligent trackless train, the invention also develops a vehicle reversing control method, as shown in fig. 6, the reversing control method is as follows:
when backing, the electric steering mechanism of the trailer at the tail of the driving train is controlled through a steering wheel in the tractor, and the trailer at the tail of the driving train is directly controlled to steer; the steering of other vehicles is controlled by a positioning and steering control module, and the automatic steering of each vehicle along the track of the trailer at the tail part is controlled by acquiring the driving track of the central point of the axle of the trailer at the tail part;
the method comprises the following specific steps:
A. defining a coordinate system and a time sequence; defining a coordinate system Z by taking a central point F1 of a front axle of the tractor as a coordinate origin, taking one side of the front axle of the tractor, which faces the locomotive, along the direction of the tractor body as a positive Y-axis direction, and taking the side of the front axle, which is perpendicular to the direction of the tractor body and faces the right side of the tractor body as a positive X-axis direction;
defining a time sequence k, wherein any time is k time;
B. initializing, wherein k is 0;
C. after a time Δ t, the time series k is increased by 1, i.e. k equals k + 1;
D. the positioning module calculates the position coordinates of the central point of each vehicle axle in the tractor coordinate system;
E. the inertial navigation module calculates the running track of the trailer at the tail part based on a tractor coordinate system, and the specific method comprises the following steps:
(1) the positioning module calculates the axle center point F of the trailer at the current moment in a coordinate system Z R Coordinate value F of Rk (x Rk ，y Rk )；
(2) Calculating the variation parameter of the coordinate system Z from the k-1 moment to the k moment, wherein the rotation angle theta of the tractor from the k-1 moment to the k moment is calculated k ，θ k ＝ω k *Δt，ω k The rotation angular velocity of the tractor at the moment k can be measured by a gyroscope of the inertial navigation module; the central point F of the front axle of the tractor is monitored by a speed sensor arranged on the tractor 1 Velocity at time k is v k Solving:
x-axis variation a ═ Δ t × v k *sinθ k ，
Y-axis variation b ═ Δ t ═ v k *cosθ k ；
(3) Coordinate transformation is carried out, wherein the time point k-1 is before and comprises the time point k-1, F R (F Rk-1 ,F Rk-2 ,…,F Rk-n ) Is transformed into coordinate values of a coordinate system of the current time k, wherein the origin of coordinates is represented by F 1k-1 Conversion to F 1k Angle of rotation theta of coordinate system k The transformed X-axis and Y-axis coordinate values are respectively:
X Rm ’＝(x Rm -a)*cosθ k +(y Rm -b)*sinθ k ，
Y Rm ’＝(y Rm -b)*cosθ k -(x Rm -a)*sinθ k ；
wherein m is k-1, k-2, … …, k-n in sequence, and y is ensured Rm ’<0, to determine the value of n, when backing up, the driving direction is the front, when y Rm ’>0, this point is now already behind the direction of travel of the front axle of the tractor;
(4) according to the axle center point F in the running process of the trailer at the current K moment in the coordinate system R Position F at different times Rk ,F Rk-1 ,F Rk-2 ,…,F Rk-n The driving track can be fitted.
F. Except for the trailer, a steering controller of each vehicle, which comprises a tractor and other trailers, controls an electric steering mechanism of each vehicle based on the coordinate value of each vehicle in a coordinate system and the running track of the trailer at the tail part, so that each vehicle backs up along the track of the trailer at the tail part;
G. if the vehicle exits the driving state, the step is finished; and if the vehicle continues to run, returning to the step C.
The above embodiments are merely illustrative of the technical ideas and features of the present invention, and the purpose of the embodiments is to enable those skilled in the art to understand the contents of the present invention and implement the present invention, and not to limit the protection scope of the present invention. It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof, and it is therefore intended that the present embodiments be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein.
Claims (10)
1. An intelligent trackless train, comprising:
the system comprises a plurality of vehicles running in a row, a plurality of control devices and a control system, wherein the vehicles running in the row comprise a tractor running at the head and a plurality of trailers running along with the tractor, and the trailers are range extender trailers positioned at the tail of a running queue;
and the positioning and steering control module is implanted into all vehicles, acquires the driving track of the vehicle at the head position along the driving direction when the vehicle advances and backs the vehicle, and controls other vehicles to steer along the driving track.
2. The intelligent trackless train of claim 1, wherein: the positioning and steering control module includes:
the positioning modules are respectively implanted into each vehicle to acquire real-time position information of the axle center point of each trailer relative to the tractor;
the inertial navigation module is implanted into the tractor and used for resolving a running track of a vehicle at the head position along the running direction;
and the steering controller and the electric steering mechanism are respectively implanted into each vehicle and can control the steering of each trailer.
3. The intelligent trackless train of claim 2, wherein: the trailer also comprises an electric driving mechanism for providing power and a hinging mechanism for realizing the hinging of the front vehicle and the rear vehicle; the positioning module comprises an angle measuring device, and the angle measuring device is arranged on the hinge mechanism;
the hinge mechanism comprises a front vehicle hinge part fixed with the tail of a front vehicle and a rear vehicle hinge part fixed with the front of a rear vehicle, the front vehicle hinge part is provided with a hinge main pin, and the rear vehicle hinge part is provided with a hinge ring which is matched with the hinge main pin to realize hinge;
the angle measuring device comprises a sensor base, a jackscrew, an angle sensor, a bracket, a universal transmission shaft, a spline groove and a spline; the sensor base is fixed on the front vehicle hinge part and is coaxial with the hinge main pin; the angle sensor is fixed in the sensor base and is provided with a stator and a rotor; the bracket is fixed on the rear vehicle hinge part, and the spline is arranged on the upper part of the bracket and is coaxial with the hinge ring; universal joints are respectively arranged at two ends of the universal transmission shaft, one universal joint is fixedly connected with a rotor of the angle sensor, the other universal joint is fixedly connected with a spline, and the spline is in plug-in fit in a spline groove.
4. The intelligent trackless train of claim 1, wherein: the range extender trailer also comprises a power supply and a fairing, wherein the power supply can adopt one or a combination of a plurality of chemical batteries, fuel batteries and generators, and the shape of the fairing is matched with that of a vehicle in front, so that the whole train is streamline.
5. The utility model provides an overlength cargo transport vehicle which characterized in that: the tractor comprises the tractor and a trailer according to any one of claims 1 to 4, a positioning and steering control module implanted in the tractor and the trailer, and further comprises a pin shaft arranged on the tractor, and a steering tray inserted into the pin shaft, wherein the steering tray can rotate around the pin shaft;
and one end of the overlong cargo is fixed on a steering tray, the other end of the overlong cargo is fixed on a trailer, and the trailer runs and turns along the running track of the tractor under the action of the positioning and steering control module.
6. The forward control method for a vehicle according to any one of claims 1 to 5, characterized in that the forward control method is specifically as follows:
(1) defining a coordinate system and a time sequence to the center point F of the front axle of the tractor 1 A coordinate system Z is defined, wherein the side along the direction of the vehicle body and facing the vehicle head is the positive direction of a Y axis, and the side perpendicular to the direction of the vehicle body and facing the right side of the vehicle body is the positive direction of an X axis;
defining a time sequence k, wherein any time is k time;
(2) initializing, wherein k is 0;
(3) after a time Δ t, the time series k is increased by 1, i.e. k equals k + 1;
(4) the positioning module calculates the position coordinates of each trailer in a tractor coordinate system;
(5) the inertial navigation module calculates a tractor driving track based on a tractor coordinate system;
(6) the steering controller controls the electric steering mechanism corresponding to each trailer to realize steering based on the coordinate value of the axle center point of each trailer in the coordinate system and the driving track of the tractor;
(7) if the vehicle exits the driving state, the step is finished; and (5) if the vehicle continues to run, returning to the step (3).
7. The vehicle forward control method according to claim 6, characterized in that: in the step (4), the position coordinates of each trailer under the tractor coordinate system are determined by adopting an angle measuring device between vehicles, and the specific method is as follows:
when relative rotation angles of front and rear vehicles occur, spline grooves fixedly arranged on the rear vehicle hinged parts drive the splines to rotate, and the universal transmission shaft drives the rotor of the angle sensor to rotate, so that the relative rotation angles of the front and rear vehicles are measured, and the relative position relation of each trailer and the coordinates of the trailer under a tractor coordinate system are further calculated by combining a vehicle size chain.
8. The vehicle forward control method according to claim 6, characterized in that: in the step (5), the method for calculating the travel track of the tractor based on the self coordinate system comprises the following steps:
(1) giving the coordinates of the central point of the front axle of the tractor at the moment k, and giving the central point F of the front axle of the tractor at the moment k 1 Is the origin of coordinates with coordinates F 1k (x 1k ＝0,y 1k ＝0)；
(2) Calculating the variation parameter of the coordinate system Z from the k-1 moment to the k moment, wherein the rotation angle theta of the tractor from the k-1 moment to the k moment is calculated k ，θ k ＝ω k *Δt，ω k The rotation angular velocity of the tractor at the moment k can be measured by a gyroscope of the inertial navigation module; the central point F of the front axle of the tractor is monitored by a speed sensor arranged on the tractor 1 Velocity at time k is v k Solving out:
x-axis variation a ═ Δ t × v k *sinθ k ，
Y-axis variation b ═ Δ t ═ v k *cosθ k ；
(3) Coordinate transformation is carried out, wherein the time point k-1 is before and comprises the time point k-1, F 1 (F 1k-1 ,F 1k-2 ,…,F 1k-n ) Is transformed into coordinate values of a coordinate system of the current time k, wherein the origin of coordinates is represented by F 1k-1 Conversion to F 1k Angle of rotation theta of coordinate system k The transformed X-axis and Y-axis coordinate values are respectively:
x 1m ’＝(x 1m -a)*cosθ k +(y 1m -b)*sinθ k ，
y 1m ’＝(y 1m -b)*cosθ k -(x 1m -a)*sinθ k ；
wherein m takes the values of k-1, k-2, … … and k-n in sequence; defining the axle center point of the trailer as F R At time k, the axle center point F of the trailer R The coordinate value of Y axis in the coordinate system of the tractor is Y RK This value can be resolved by the positioning module; need to guarantee y 1m ’＞y RK To determine the value of n when y 1m ’＜y RK Then this point is already behind the rear trailer axle;
(4) according to a front axle central point F in the running process of the tractor under a current time (K time) coordinate system 1 Coordinate position F at different times 1k ,F 1k-1 ,F 1k-2 ,…,F 1k-n The driving track can be fitted.
9. A vehicle reversing control method according to any one of claims 1 to 5, characterized in that: the reverse control method comprises the following specific steps:
when backing, the electric steering mechanism of the trailer at the tail of the driving train is controlled through a steering wheel in the tractor, and the trailer at the tail of the driving train is directly controlled to steer; the steering of other vehicles is controlled by a positioning and steering control module, and the automatic steering of each vehicle along the track of the trailer at the tail part is controlled by acquiring the driving track of the central point of the axle of the trailer at the tail part;
the method comprises the following specific steps:
(1) defining a coordinate system and a time sequence; by the central point F of the front axle of the tractor 1 A coordinate system Z is defined by taking the coordinate as an original point, taking the Y-axis positive direction on one side facing the vehicle head along the direction of the vehicle body and taking the X-axis positive direction on the other side perpendicular to the direction of the vehicle body and facing the right side of the vehicle body;
defining a time sequence k, wherein any time is k time;
(2) initializing, wherein k is 0;
(3) after a time Δ t, the time series k is increased by 1, i.e. k equals k + 1;
(4) the positioning module is used for solving the position coordinates of the center point of each vehicle axle in the tractor coordinate system;
(5) the inertial navigation module calculates the driving track of the trailer at the tail part based on a tractor coordinate system;
(6) except for the trailer, a steering controller of each vehicle, which comprises a tractor and other trailers, controls an electric steering mechanism of each vehicle based on the coordinate value of each vehicle under the coordinate system and the running track of the trailer at the tail part, so that each vehicle backs up along the track of the trailer at the tail part;
(7) if the vehicle exits the driving state, the step is finished; and (4) if the vehicle continues to run, returning to the step (3).
10. A vehicle reverse control method according to claim 9, characterized in that: the method for calculating the driving track of the trailer at the tail part in the step (5) specifically comprises the following steps:
(1) the positioning module calculates the axle center point F of the trailer at the current moment in a coordinate system Z R Coordinate value F of Rk (x Rk ，y Rk )；
(2) Calculating the variation parameter of the coordinate system Z from the k-1 moment to the k moment, wherein the rotation angle theta of the tractor from the k-1 moment to the k moment is calculated k ，θ k ＝ω k *Δt，ω k The rotation angular velocity of the tractor at the moment k can be measured by a gyroscope of the inertial navigation module; the central point F of the front shaft of the tractor is monitored by a speed sensor arranged on the tractor 1 Velocity at time k is v k Solving:
x-axis variation a ═ Δ t × v k *sinθ k ，
Y-axis variation b ═ Δ t ═ v k *cosθ k ；
(3) Coordinate transformation is carried out, wherein the time point k-1 is before and comprises the time point k-1, F R (F Rk-1 ,F Rk-2 ,…,F Rk-n ) Is transformed into coordinate values of a coordinate system of the current time k, wherein the origin of coordinates is represented by F 1k-1 Conversion to F 1k Angle of rotation theta of coordinate system k The transformed X-axis and Y-axis coordinate values are respectively:
X Rm ’＝(x Rm -a)*cosθ k +(y Rm -b)*sinθ k ，
Y Rm ’＝(y Rm -b)*cosθ k -(x Rm -a)*sinθ k ；
wherein m is k-1, k-2, … …, k-n in sequence, and y is ensured Rm ’<0, to determine the value of n, when backing up, the driving direction is the front, when y Rm ’>0, this point is now already behind the direction of travel of the front axle of the tractor;
(4) according to the axle center point F in the running process of the trailer under the current K time coordinate system R Position F at different times Rk ,F Rk-1 ,F Rk-2 ,…,F Rk-n The driving track can be fitted.
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