The invention discloses an underground locomotive unmanned system and a control method. The system comprises a ground equipment remote control console RCC, dispatching management software DOMS, a datacommunication server ComServer and a video server VSM. With an underground unmanned locomotive and a control substation, the unmanned locomotive departs from a departure point according to a preset driving task; an initial reference position of the locomotive is obtained through a UWB distance measuring distance value, the running distance of the locomotive is accumulated according to pulse counting of a locomotive speed encoder during running, calculation is conducted according to a running task to obtain an accurate section where the current locomotive is located, then accurate position information is reported in real time, so that safe speed-limiting running of the locomotive is guided. Meanwhile, since the rail road condition, the mechanical condition can influence the pulse frequencyquantity counting of the speed encoder and further influence the judgment of the locomotive driving position, the reference position of the locomotive can be recalibrated by utilizing the UWB distance measuring value for multiple times in the driving process, so that the driving position calculation accuracy and the driving safety are improved.
本发明的一种矿井下机车无人驾驶系统及控制方法,包括地面设备远程操作控制台RCC、调度管理软件DOMS、数据通信服务器ComServer、视频服务器VSM,井下无人驾驶机车和控制分站,无人驾驶机车根据预设的行车任务从发车点发车,通过UWB测距距离值获取机车初始参考位置,行车期间根据机车速度编码器脉冲计数累计车辆走行距离,并根据行车任务进行推算得到当前机车所在精确区段,后将精确位置信息实时上报,从而指导机车安全限速行驶。同时考虑到轨道路况、机械条件会影响速度编码器脉冲频率量计数,进而影响机车行车位置判断,行车过程中会多次利用UWB测距值对机车参考位置进行重新校准,以提高行车位置计算准确性及行车安全性。
Underground locomotive unmanned system and control method
一种矿井下机车无人驾驶系统及控制方法
2020-12-01
Patent
Electronic Resource
Chinese
IPC: | B61C Lokomotiven , LOCOMOTIVES |
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