阅读说明：本技术 一种单轨吊机车定位方法及系统 (Monorail crane positioning method and system ) 是由 赵波 史华伟 袁艳卫 巩玉金 方涛 温象虎 王哲 李让 方恒一 于 2021-05-25 设计创作，主要内容包括：本申请公开了一种单轨吊机车定位方法及系统,根据单轨吊机车运行路线绘制导轨吊机车运行电子地图；确定所述单轨吊机车在所述运行电子地图上的起点；单轨吊机车在运行过程中,车载旋转式增量编码器计数测量运行距离；当单轨吊机车运行停止时,根据所述运行距离和所述单轨吊机车的起点在所述电子地图上确定所述单轨吊机车的位置。绘制的运行电子地图存储控制器中,运行前确定了单轨吊机车的位置信息并在电子地图中标记出来。机车在矿山巷道运行时,通过车载旋转式增量编码器计量运行距离,并将数据更新到电子地图上,从而实现了单轨吊机车在电子地图中的动态运行图。从而不需要GPRS和其他网络信息,实现了对单轨吊机车的位置定位。(The application discloses a method and a system for positioning a monorail crane, wherein a guide rail crane operation electronic map is drawn according to a monorail crane operation route; determining a starting point of the monorail crane vehicle on the running electronic map; during the running process of the monorail crane, the vehicle-mounted rotary incremental encoder counts and measures the running distance; and when the monorail crane vehicle stops running, determining the position of the monorail crane vehicle on the electronic map according to the running distance and the starting point of the monorail crane vehicle. And in the drawn electronic map storage controller, the position information of the monorail crane locomotive is determined and marked in the electronic map before operation. When the locomotive runs in a mine roadway, the running distance is measured through the vehicle-mounted rotary incremental encoder, and data are updated to the electronic map, so that a dynamic running chart of the monorail crane locomotive in the electronic map is realized. Therefore, GPRS and other network information are not needed, and the positioning of the monorail crane locomotive is realized.)

1. A method of positioning a monorail crane vehicle, the method comprising:

drawing a guide rail crane running electronic map according to a single-rail crane running route;

determining a starting point of the monorail crane vehicle on the running electronic map;

during the running process of the monorail crane, the vehicle-mounted rotary incremental encoder counts and measures the running distance;

and when the monorail crane vehicle stops running, determining the position of the monorail crane vehicle on the electronic map according to the running distance and the starting point of the monorail crane vehicle.

2. The monorail crane positioning method of claim 1, wherein the step of drawing the electronic map of the operation of the guide rail crane according to the monorail crane operation route comprises the steps of:

travel switches are arranged at a turnout, a curve, an air door, a ramp starting point and a ramp ending point of the running route of the monorail crane;

determining the coordinate position of the travel switch and the distance between the travel switches;

and fusing the coordinates of the travel switch and the distance of the travel switch to the running electronic map.

3. The method of claim 2, wherein said determining the starting point of the monorail car on the running electronic map comprises:

if the monorail crane starts to operate from the starting point of the operation route, taking the starting point of the electronic map as the starting point of the monorail crane;

alternatively, the first and second electrodes may be,

if the monorail crane vehicle starts to operate from any position between the starting point and the end point of the operation route, determining the starting point position according to the travel switch and/or the rotary incremental encoder.

4. The monorail crane positioning method as recited in claim 3, wherein after the monorail crane passes through a first travel switch, the first travel switch is activated, the rotary incremental encoder uploads the coordinate position of the first travel switch, the rotary incremental encoder restarts counting, and the first travel switch is any travel switch on the running route; determining a starting point position according to the travel switch and/or the rotary incremental encoder if the monorail crane starts to operate from any position between the starting point and the end point of the operation route, comprising:

determining a second travel switch through which the monorail crane passes before stopping;

using the second travel switch position as a starting point on the running electronic map of the monorail crane; or;

and determining a starting point on the running electronic map of the monorail crane according to the second travel switch position and the distance of the monorail crane from the second travel switch position to the stopping point, which is measured by the rotary incremental encoder.

5. A monorail crane positioning method as defined in claim 1, wherein said determining a position of the monorail crane on said electronic map based on said travel distance and a start point of said monorail crane when operation of monorail crane is stopped comprises:

determining a third travel switch which is passed by the monorail crane before the operation of the monorail crane is stopped;

determining a stop position of the monorail crane vehicle based on the third travel switch position and the distance the monorail crane vehicle travels from the third travel switch position to a stop point as measured by the rotary incremental encoder.

6. A monorail crane positioning system, the system comprising:

the drawing module is used for drawing the electronic map of the operation of the guide rail crane according to the operation route of the single rail crane;

a first determination module for determining a starting point of the monorail crane vehicle on the running electronic map;

the metering module is used for counting and measuring the running distance of the vehicle-mounted rotary incremental encoder in the running process of the monorail crane;

and the second determination module is used for determining the position of the monorail crane vehicle on the electronic map according to the running distance and the starting point of the monorail crane vehicle when the monorail crane vehicle stops running.

7. The monorail crane positioning system of claim 6, wherein the mapping module comprises:

the setting unit is used for setting travel switches at a turnout, a curve, an air door, a ramp starting point and a ramp ending point of the running route of the monorail crane;

a first determination unit for determining a coordinate position of the travel switches and a distance between the travel switches;

and the fusion unit is used for fusing the coordinates of the travel switch and the distance of the travel switch to the running electronic map.

8. The monorail trolley positioning system of claim 7, wherein the first determination module comprises:

a second determination unit, configured to take an electronic map starting point as a starting point of the monorail crane vehicle if the monorail crane vehicle starts to operate from an operation route starting point;

and the third determination unit is used for determining the position of the starting point according to the travel switch and/or the rotary incremental encoder if the monorail crane starts to operate from any position between the starting point and the end point of the operation route.

9. A monorail crane positioning system as defined in claim 8, wherein the monorail crane is configured such that after the monorail crane passes a first travel switch, the first travel switch is activated, the rotary incremental encoder uploads the coordinate position of the first travel switch, the rotary incremental encoder restarts counting, and the first travel switch is any travel switch on the travel route; the third determination unit includes:

the first determining subunit is used for determining a second travel switch which is passed by the monorail crane before the monorail crane stops;

a second determining subunit, configured to use the second position of the travel switch as a starting point on the electronic map of operation of the monorail crane; or; and determining a starting point on the running electronic map of the monorail crane according to the second travel switch position and the distance of the monorail crane from the second travel switch position to the stopping point, which is measured by the rotary incremental encoder.

10. A monorail hoist positioning system as defined in claim 6, wherein the second determination module comprises:

the fourth determination unit is used for determining a third travel switch which is passed by the monorail crane before the operation of the monorail crane stops;

and the fifth determining unit is used for determining the stop position of the monorail crane vehicle according to the third travel switch position and the distance of the monorail crane vehicle from the third travel switch position to the stop point, which is measured by the rotary incremental encoder.

Technical Field

The application relates to the technical field of monorail cranes for mines, in particular to a positioning method and system of a monorail crane.

Background

The monorail crane is a special underground transportation tool for transporting personnel or materials, which runs on specially-made I-steel above a mine roadway, and belongs to one of rail locomotives. Due to the special operating environment, the position of the monorail crane needs to be tracked, and if the monorail crane is found to have a fault, obstacle removal and maintenance are timely carried out according to the positioned position.

However, because a GPS signal cannot be used in a mine roadway where the monorail crane works, positioning technologies such as UWB (ultra wide band) and the like are generally adopted in the prior art to position the monorail crane. The UWB positioning technology depends on network signals, so that network equipment and a base station need to be arranged in the running process of the monorail crane, and the construction and maintenance cost is high. And if any network equipment fails, UWB positioning is caused to be problematic, and the position of the monorail crane cannot be accurately positioned.

Therefore, how to realize the accurate range of the position of the monorail crane, which is suitable for the development requirements of modern and intelligent mines, is a technical problem to be solved in the field.

Disclosure of Invention

In order to solve the technical problems, the following technical scheme is provided:

in a first aspect, an embodiment of the present application provides a monorail crane positioning method, which includes: drawing a guide rail crane running electronic map according to a single-rail crane running route; determining a starting point of the monorail crane vehicle on the running electronic map; during the running process of the monorail crane, the vehicle-mounted rotary incremental encoder counts and measures the running distance; and when the monorail crane vehicle stops running, determining the position of the monorail crane vehicle on the electronic map according to the running distance and the starting point of the monorail crane vehicle.

By adopting the implementation mode, the drawn running electronic map is stored in the controller, and the position information of the monorail crane locomotive is determined and marked in the electronic map before running. When the locomotive runs in a mine roadway, the running distance is measured through the vehicle-mounted rotary incremental encoder, and data are updated to the electronic map, so that a dynamic running chart of the monorail crane locomotive in the electronic map is realized. Therefore, GPRS and other network information are not needed, and the positioning of the monorail crane locomotive is realized.

With reference to the first aspect, in a first possible implementation manner of the first aspect, the drawing an electronic map of operation of a guide rail crane according to an operation route of the single rail crane includes: travel switches are arranged at a turnout, a curve, an air door, a ramp starting point and a ramp ending point of the running route of the monorail crane; determining the coordinate position of the travel switch and the distance between the travel switches; and fusing the coordinates of the travel switch and the distance of the travel switch to the running electronic map.

With reference to the first possible implementation manner of the first aspect, in a second possible implementation manner of the first aspect, the determining a starting point of the monorail crane vehicle on the operation electronic map includes: if the monorail crane starts to operate from the starting point of the operation route, taking the starting point of the electronic map as the starting point of the monorail crane; alternatively, if the monorail crane vehicle is operating from any position between the start and end points of the operating route, the start position is determined from the travel switch and/or the rotary incremental encoder.

With reference to the second possible implementation manner of the first aspect, in a third possible implementation manner of the first aspect, after the monorail crane passes through a first travel switch, the first travel switch is triggered, the rotary incremental encoder uploads the coordinate position of the first travel switch, the rotary incremental encoder restarts counting, and the first travel switch is any travel switch on a running route; determining a starting point position according to the travel switch and/or the rotary incremental encoder if the monorail crane starts to operate from any position between the starting point and the end point of the operation route, comprising: determining a second travel switch through which the monorail crane passes before stopping; using the second travel switch position as a starting point on the running electronic map of the monorail crane; or; and determining a starting point on the running electronic map of the monorail crane according to the second travel switch position and the distance of the monorail crane from the second travel switch position to the stopping point, which is measured by the rotary incremental encoder.

With reference to the first aspect, in a fourth possible implementation manner of the first aspect, when the monorail crane vehicle stops operating, the determining, on the electronic map, the position of the monorail crane vehicle according to the operating distance and the starting point of the monorail crane vehicle includes: determining a third travel switch which is passed by the monorail crane before the operation of the monorail crane is stopped; determining a stop position of the monorail crane vehicle based on the third travel switch position and the distance the monorail crane vehicle travels from the third travel switch position to a stop point as measured by the rotary incremental encoder.

In a second aspect, the present application provides a monorail crane positioning system, including: the drawing module is used for drawing the electronic map of the operation of the guide rail crane according to the operation route of the single rail crane; a first determination module for determining a starting point of the monorail crane vehicle on the running electronic map; the metering module is used for counting and measuring the running distance of the vehicle-mounted rotary incremental encoder in the running process of the monorail crane; and the second determination module is used for determining the position of the monorail crane vehicle on the electronic map according to the running distance and the starting point of the monorail crane vehicle when the monorail crane vehicle stops running.

With reference to the second aspect, in a first possible implementation manner of the second aspect, the rendering module includes: the setting unit is used for setting travel switches at a turnout, a curve, an air door, a ramp starting point and a ramp ending point of the running route of the monorail crane; a first determination unit for determining a coordinate position of the travel switches and a distance between the travel switches; and the fusion unit is used for fusing the coordinates of the travel switch and the distance of the travel switch to the running electronic map.

With reference to the first possible implementation manner of the second aspect, in a second possible implementation manner of the second aspect, the drawing module includes: the first determining module includes: a second determination unit, configured to take an electronic map starting point as a starting point of the monorail crane vehicle if the monorail crane vehicle starts to operate from an operation route starting point; and the third determination unit is used for determining the position of the starting point according to the travel switch and/or the rotary incremental encoder if the monorail crane starts to operate from any position between the starting point and the end point of the operation route.

With reference to the second possible implementation manner of the second aspect, in a third possible implementation manner of the second aspect, after the monorail crane passes through a first travel switch, the first travel switch is triggered, the rotary incremental encoder uploads the coordinate position of the first travel switch, the rotary incremental encoder restarts counting, and the first travel switch is any travel switch on a running route; the third determination unit includes: the first determining subunit is used for determining a second travel switch which is passed by the monorail crane before the monorail crane stops; a second determining subunit, configured to use the second position of the travel switch as a starting point on the electronic map of operation of the monorail crane; or; and determining a starting point on the running electronic map of the monorail crane according to the second travel switch position and the distance of the monorail crane from the second travel switch position to the stopping point, which is measured by the rotary incremental encoder.

With reference to the second aspect, in a fourth possible implementation manner of the second aspect, the second determining module includes: the fourth determination unit is used for determining a third travel switch which is passed by the monorail crane before the operation of the monorail crane stops; and the fifth determining unit is used for determining the stop position of the monorail crane vehicle according to the third travel switch position and the distance of the monorail crane vehicle from the third travel switch position to the stop point, which is measured by the rotary incremental encoder.

Drawings

FIG. 1 is a schematic flow chart illustrating a method for positioning a monorail crane provided by an embodiment of the present application;

fig. 2 is a schematic diagram of an electronic map provided in an embodiment of the present application;

FIG. 3 is a schematic view of a monorail crane positioning system provided by an embodiment of the present application.

Detailed Description

The present invention will be described with reference to the accompanying drawings and embodiments.

Fig. 1 is a schematic flow chart of a monorail crane positioning method provided by an embodiment of the present application, and referring to fig. 1, the monorail crane positioning method provided by the embodiment of the present application includes:

and S101, drawing a guide rail crane running electronic map according to the running route of the monorail crane.

According to the embodiment, a monorail crane travelling route graph is drawn according to the running route of a mine tunnel of a monorail crane vehicle in an equal proportion through CAD software according to an underground tunnel; drawing a top view according to the distribution of the roadway, displaying the position of the locomotive in the horizontal direction, drawing a side view according to the fluctuation of the roadway, displaying the position of the locomotive in the vertical direction, and recording the coordinates of special points (such as turnouts, air doors and the like) in the running process of the locomotive.

Travel switches are arranged at a turnout, a curve, an air door, a ramp starting point and a ramp ending point of the running route of the monorail crane. And determining the coordinate positions of the travel switches and the distances between the travel switches, and fusing the coordinates of the travel switches and the distances between the travel switches to the running electronic map, which is shown in fig. 2.

And S102, determining a starting point of the monorail crane on the running electronic map.

The starting point of the single rail locomotive may be from the initial position of entry into the underworkings, or may be at any location in the underworkings. Therefore, the starting point of the monorail crane on the running electronic map needs to be determined according to different conditions in the embodiment.

In the first case, if the monorail crane starts to operate from the start of the operation route, the start of the electronic map is used as the start of the monorail crane.

In the second case, if the monorail crane starts operating from any position between the start and end of the operating route, the start position is determined from the travel switch and/or the rotary incremental encoder.

Specifically, after the monorail crane passes through a first travel switch, the first travel switch is triggered, the rotary incremental encoder uploads the coordinate position of the first travel switch, the rotary incremental encoder restarts counting, and the first travel switch is any travel switch on the running route.

In this embodiment, if the monorail crane starts operating from any position between the start point and the end point of the operating route, determining the start point position according to the travel switch and/or the rotary incremental encoder comprises: determining a second travel switch through which the monorail crane passes before stopping; and taking the position of the second travel switch as a starting point on the running electronic map of the monorail crane. Although the position of the starting point of the monorail crane on the electronic map is not accurate enough, the distance between the underground travel switches of the roadway is not very long, and the rotary incremental encoder can determine the position of the monorail crane again after the monorail crane passes through the next travel switch.

In addition to the above-mentioned manner of determining the starting point of the monorail crane on the running electronic map, the present embodiment may also be implemented in the following manner. And determining a starting point on the running electronic map of the monorail crane according to the second travel switch position and the distance of the monorail crane from the second travel switch position to the stopping point, which is measured by the rotary incremental encoder. The determination mode is more accurate than the mode that the position of the second travel switch is used as the starting point on the running electronic map of the monorail crane.

S103, counting and measuring the running distance by using the vehicle-mounted rotary incremental encoder in the running process of the monorail crane.

When the monorail crane vehicle reaches a special point, the rotary encoder starts to work, displacement information is uploaded to the vehicle-mounted central controller, and after analysis and processing, the corresponding real-time position of the locomotive is displayed in a route map of a configuration interface according to the distance between the current locomotive and the special point.

When the locomotive reaches the next special point, the travel switch is triggered, the rotary encoder stores the data and recounts the data, and the position of the locomotive in the road map is calibrated. The stored data is also used for analyzing and correcting the corresponding relation between the distance measured by the encoder and the coordinates of two special points.

And S104, when the monorail crane stops running, determining the position of the monorail crane on the electronic map according to the running distance and the starting point of the monorail crane.

In the embodiment, a third travel switch which is passed by the monorail crane before the operation of the monorail crane is stopped is determined. Determining a stop position of the monorail crane vehicle based on the third travel switch position and the distance the monorail crane vehicle travels from the third travel switch position to a stop point as measured by the rotary incremental encoder.

Corresponding to the positioning method of the monorail crane provided by the embodiment, the application also provides an embodiment of a positioning system of the monorail crane. Referring to FIG. 3, a monorail car positioning system 20 comprises: a rendering module 201, a first determination module 202, a metering module 203, and a second determination module 204.

The drawing module 201 is used for drawing the electronic map of the operation of the guide rail crane according to the operation route of the single rail crane. The first determining module 202 is configured to determine a starting point of the monorail crane vehicle on the operation electronic map. And the metering module 203 is used for counting and measuring the running distance of the vehicle-mounted rotary incremental encoder in the running process of the monorail crane. The second determining module 204 is configured to determine, when the monorail crane vehicle stops operating, a position of the monorail crane vehicle on the electronic map according to the operating distance and the starting point of the monorail crane vehicle.

In an exemplary embodiment, the rendering module 201 includes: the device comprises a setting unit, a first determining unit and a fusing unit. The setting unit is used for setting travel switches at a turnout, a curve, an air door, a ramp starting point and a ramp ending point of the running route of the monorail crane. The first determining unit is used for determining the coordinate position of the travel switches and the distance between the travel switches. And the fusion unit is used for fusing the coordinates of the travel switch and the distance of the travel switch to the running electronic map.

In an exemplary embodiment, the first determining module 202 includes: a second determination unit and a third determination unit. The second determination unit is used for taking the starting point of the electronic map as the starting point of the monorail crane vehicle if the monorail crane vehicle starts to operate from the starting point of the operation route. The third determination unit is used for determining the position of the starting point according to the travel switch and/or the rotary incremental encoder if the monorail crane starts to operate from any position between the starting point and the end point of the operation route.

After the monorail crane passes through the first travel switch, the first travel switch is triggered, the rotary incremental encoder uploads the coordinate position of the first travel switch, the rotary incremental encoder starts counting again, and the first travel switch is any travel switch on the running route;

further, the third determination unit includes: a first determining subunit and a second determining subunit. The first determining subunit is used for determining a second travel switch which is passed by the monorail crane before the monorail crane stops. The second determining subunit is used for taking the position of the second travel switch as a starting point on the running electronic map of the monorail crane; or; and determining a starting point on the running electronic map of the monorail crane according to the second travel switch position and the distance of the monorail crane from the second travel switch position to the stopping point, which is measured by the rotary incremental encoder.

In one exemplary embodiment, the second determining module includes: a fourth determination unit and a fifth determination unit. And the fourth determination unit is used for determining a third travel switch which is passed by the monorail crane before the operation of the monorail crane is stopped. The fifth determination unit is used for determining the stop position of the monorail crane vehicle according to the third travel switch position and the distance of the monorail crane vehicle from the third travel switch position to the stop point measured by the rotary incremental encoder

It is noted that, in this document, relational terms such as "first" and "second," and the like, may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.

Of course, the above description is not limited to the above examples, and technical features that are not described in this application may be implemented by or using the prior art, and are not described herein again; the above embodiments and drawings are only for illustrating the technical solutions of the present application and not for limiting the present application, and the present application is only described in detail with reference to the preferred embodiments instead, it should be understood by those skilled in the art that changes, modifications, additions or substitutions within the spirit and scope of the present application may be made by those skilled in the art without departing from the spirit of the present application, and the scope of the claims of the present application should also be covered.