CN106115489B - A kind of double cars of railway breakdown of view-based access control model measurement hang multiple assist in synchronization control method for coordinating - Google Patents
A kind of double cars of railway breakdown of view-based access control model measurement hang multiple assist in synchronization control method for coordinating Download PDFInfo
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- CN106115489B CN106115489B CN201610440769.4A CN201610440769A CN106115489B CN 106115489 B CN106115489 B CN 106115489B CN 201610440769 A CN201610440769 A CN 201610440769A CN 106115489 B CN106115489 B CN 106115489B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/22—Control systems or devices for electric drives
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/46—Position indicators for suspended loads or for crane elements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C15/00—Safety gear
- B66C15/06—Arrangements or use of warning devices
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Control And Safety Of Cranes (AREA)
Abstract
The invention discloses a kind of double cars of the railway breakdown of view-based access control model measurement to hang multiple assist in synchronization control method for coordinating, to aid in the double cars of railway accident emergency management and rescue to hang multiple stationary problem；Using synchronous terminal, vision measurement terminal, background server, obtain the 3 d space coordinate data message of scene of the accident object in real time by vision measurement, background server will be handled data message, calculated, solved to make and hang compound case in real time, bear to provide guidance when load is uneven when two crane collaborations hang multiple for craneman.
Description
Technical field
The present invention relates to railway emergency rescue field, particularly a kind of railway breakdown pair cars of view-based access control model measurement hang again auxiliary
Help sychronisation.
Background technology
Driving accident rescue is the important component of safety of railway traffic production, and the success or failure of rescue work are directly connected to
The degree of change and the causality loss of nature of occurence.To ensure that rescue is carried out safely and fast, in an orderly manner, overall rescue work is improved
Make, causality loss is preferably minimized.Once generation traffic interruptions, it is necessary to energetically handle, it is rapid to recover to be open to traffic, by traffic interruptions
Time is reduced to a minimum, and formulates rational emergency management and rescue scheme and becomes head for driving accident rescue organizer and cammander
Work.
In driving accident, configuration and performance because of crane, it can not lift by crane and crane under any circumstance
The biggest quality that lifting quality is consistent, with the renewal of China Railway vehicle arrangement, the increase of bicycle vehicle capacity, makes
The increase of its gross mass, while with the raising of train running speed, once derailment accident occurs, its vehicle that derails is generally n,
There is more serious breakage after derailing, hung to rescue and add very big difficulty again, separate unit crane has been difficult to meet lifting
The requirement of quality, it is increasing to the demand of double-crane work compound, however, two-shipper cooperate with lift when danger significantly
Increase, often takes artificial establishment lifting operation scheme during double computer cooperation lifts, and completes to cooperate with by artificial experience
Hang multiple, often cause crane to break arm, the catastrophic consequence such as topple because load distribution is unreasonable.
The present invention is directed in two-shipper hangs multiple operation process, and the uneven distribution of Crane Load formulates specific scheme,
So as to ensure to hang the safety of multiple operation.
At home up to the present, similar techniques or Patents are not yet retrieved.
The content of the invention
In view of the deficiency above of prior art, it is an object of the present invention to provide a kind of railway breakdown of view-based access control model measurement
Double cars hang multiple assist in synchronization control method for coordinating, and the space geometry data message at scene is obtained by vision measurement terminal, is passed back
To background server, and the scheme for solving load problem of non-uniform during double car collaborations are hung again is made in real time, its means is：
A kind of double cars of railway breakdown of view-based access control model measurement hang multiple assist in synchronization control method for coordinating, to aid in railway to rescue
Help the synchronization of two cranes when double cars hang multiple, it is ensured that hang multiple safety：The space of the scene of the accident is obtained by vision measurement terminal
Geometric data information, background server is returned to, and provides the uneven information of load during double car collaborations are hung again in real time, including
Following steps：
1) after railway accident occurs, carry out collaboration by two cranes and hang multiple (such as Fig. 3 a)；Vision is arranged in the scene of the accident
Measuring terminals S to including hang it is multiple during dual systems 3 d space coordinate, by hoisting locomotive vehicle body space three-dimensional coordinate, lifting
The data of space of points three-dimensional coordinate carry out live acquisition (key element in such as Fig. 3 b)；And by the data information transfer of acquisition to data
Pretreatment module；
2) data preprocessing module can filter out required data from background data base automatically, include the sky of dual systems
Between the geometric center of gravity position coordinates of three-dimensional coordinate, the three dimensional space coordinate of locomotive car body and car body, the suspension centre on locomotive car body
Position coordinates, these data for carried out in subsequent step crane hang it is multiple during hang power, amplitude calculates and provides data foundation；
3) solution calculating will be carried out to data acquired in data preprocessing module by solving module：Detailed process is such as
Under：
A) the load change process of crane is calculated
The now suffered load F of two cranesaAnd FbRespectively：
Vertical range of the h-suspension centre to locomotive center；
The distance between l-suspension centre of locomotive homonymy two；
lx- left side suspension centre is disembarked the horizontal range of car body gravity；
G-locomotive quality；
α-locomotive car body leaves the angle formed behind ground with horizontal plane.
B) the adjustment process of two crane arms is calculated according to load change process：
The changes in amplitude β ' and steel cable length l " of two auxiliary cranes
la- arm is grown；
β-arm and horizontal angle；
The angle of γ-steel cable and arm；
L-locomotive car body length；
The length of l'-steel cable；
h1、h2- the height respectively residing for compartment left and right ends；
Wherein each parameter can combine Fig. 1 and Fig. 2 and express.
It is transferred to by the upper load for calculating the crane that solution obtains and arm changes in amplitude data on two cranes
Simultaneous display terminal, real-time display go out to lift the change curve and arm changes in amplitude figure of power, pass through simultaneous display terminal
Prompting craneman carry out collaboration hang multiple safety significant operations.
The vision measurement terminal main function of the present invention is that to carry out real-time space three-dimensional several during being lifted by crane to collaboration
The data acquisition of what coordinate, mainly by：1st, vision sensor；2nd, image pick-up card；3rd, industrial computer forms.Now introduce each
The effect of hardware.
Vision sensor mainly obtains enough NI Vision Builder for Automated Inspections most original image to be processed.
Image pick-up card is the interface between IMAQ and image procossing.Effect is that control vision sensor carries out signal
Collection, and will collect after analog signal quantifies and be converted to digital picture, then it is stored in frame memory, then passes through
Data-interface is passed to calculator memory for successive image processing.
Industrial computer is handled picture signal and exports object geometric space coordinate information.
Simultaneous display terminal is located in crane, and providing collaboration for craneman hangs compound case.
The background server of the present invention mainly calculates each crane hanging component power, amplitude in real time during crane is hung again
Change, form collaboration and hang compound case, and analysis result is exported and gives simultaneous display terminal, be a data processing centre, mainly
By：1st, database hub；2 data preprocessing modules；3 solve module；4th, output result module forms.Now introduce the tool of each module
Body function：
Database hub：It is a data storage center, storage includes existing data storage information such as crane used
Data message, by hoisting locomotive car body data message etc., include the sky for the scene of the accident object that vision measurement terminal uploads
Between the information such as three-dimensional coordinate.
Data preprocessing module：Obtaining the necessary data message of progress Hoisting Program solution includes dual systems entirety
Coordinate system, by the center of gravity of hoisting locomotive car body, the coordinate value etc. of lifting point.The acquisition of these space three-dimensional data coordinates be in order to
The crane hanging component Scheme Solving of next step is prepared.
Solve module：Calculated for carrying out dual systems arm amplitude, steel cable length, hanging power etc., in the mistake solved
Also the power of hanging calculated liter weight can be carried out in journey and checked, to ensure that the Hoisting Program that draws is safer.
As a result output module：It is mainly used for exporting lifting analysis demonstration, hangs the output of power dynamic change result and work as
Safe early warning is carried out during heavy-duty machine payload overload, and these results are transmitted to simultaneous display terminal by LAN.
The present invention hangs multiple auxiliary rescue from the double cars of railway of the safe rescue construction view-based access control model measurement of train accident
Sychronisation, auxiliary traditional railway accident emergency rescue department are improved rescue efficiency, are reduced double cars with rapid development Rescue Plan
System hangs multiple potential safety hazard.Overcome traditional two-shipper hang it is multiple lack effective, science theoretical direction, hang multiple cost it is high,
Compound case is hung in the shortcomings of emergent auxiliary rescue can not be carried out in real time, fast and effeciently generation, instructs actual double computer cooperation to hang multiple
Work.
Using the method for the present invention, live space geometry data message is obtained by vision measurement terminal, after being returned to
Platform server, and the scheme for solving load problem of non-uniform during double car collaborations are hung again is made in real time, it is crane operation
Member bears to provide guidance when load is uneven when two crane collaborations hang multiple.
Brief description of the drawings
Fig. 1 leaves locomotive car body force analysis figure in face of ground
Fig. 2 leaves locomotive car body force analysis behind ground
Fig. 3 double computer cooperations lift asynchronous schematic diagram, wherein (a) is lifting scene graph, (b) accepts analysis chart.
Fig. 4 is vision measurement operating diagram of the present invention
Fig. 5 is background server function connects schematic diagram of the present invention
Fig. 6 is that the present invention implements vision measurement terminal filed operating diagram
Fig. 7 is present invention specific implementation overview flow chart
Embodiment
After railway accident occurs, two cranes carry out collaboration and hung again, with reference to vision measurement terminal inner operating diagram
(Fig. 4) and vision measurement terminal filed operating diagram (Fig. 6) understand that the realtime graphic that site environment is carried out by digital camera obtains
Take, digital camera is mainly made up of vision sensor and image pick-up card, and they are the keys for obtaining image.Image pick-up card
Effect is that control vision sensor carries out signal (including two cranes, the image information for hanging multiple locomotive car body) collection, and
It will collect after analog signal quantifies and be converted to digital picture, then be stored in frame memory.
The digital picture stored in frame memory is passed in industrial computer by data-interface, and industrial computer will be right
Digital picture is handled.In order to extract final characteristic target, it is necessary to image is split, takes out ambient noise, is retained
Target image.Target signature point extraction is carried out to pretreatment image by image segmentation, and completes two of characteristic information in image
Dimension parameter accurately describes.On the basis of digital camera demarcation and two dimensional image measurement result, 3 d space coordinate measurement is completed
Or the measurement of Space geometric parameter includes dual systems 3 d space coordinate during hanging again, by hoisting locomotive vehicle body space three
Dimension coordinate, lifting point 3 d space coordinate.It is finally that X, Y of target to be measured, Z coordinate are exported to background service to the data of acquisition
These data can be transmitted to database hub and be stored by device, background server.
It is intended to (Fig. 7) with reference to background server function connects schematic diagram (Fig. 5) and background server data processing
Understand, background server is handled acquired real time data and quickly generates Hoisting Program, mainly by counting
Make every effort to solve module according to acquisition module, data preparation module, lifting and dual systems solves module composition, its calculating process is：Number
According to storehouse center, --- result exports data prediction --- calculate and solve ---.
1) database hub is a data storage center, itself has stored the various data of crane used, including
The crane biggest lifting capacity, maximum load rate, each crane initial attitude, original state steel wire rope are from elevator to suspension hook length；
Being hung locomotive car body data includes the geometric position of center of gravity, initial attitude etc..Database hub obtains to vision measurement terminal in real time
The dual systems 3 d space coordinate that takes, stored by hoisting locomotive vehicle body space three-dimensional coordinate, the information for lifting point coordinates.
The major function of data acquisition module is to carry out the storage of data and provide data support in real time for data prediction processing module.
2) data preprocessing module filters out from database hub carries out the necessary data for hanging multiple Scheme Solving letter
Breath includes dual systems global coordinate system, by the barycentric coodinates of hoisting locomotive car body, the coordinate etc. of lifting point.
3) solve module and calculating solution is carried out to the acquired data in data preprocessing module, it is double so as to calculate in real time
Machine system arm work range, steel cable length, hang power.Can also be to the crane in dual systems during solution is calculated
Lifting capacity is checked, and is toppled its object is to prevent overload crane.Specifically check process is：In order to ensure
With enough stability during heavy-duty machine operation, the maximum load Q on suspension hookn(i.e. rated load weight) should be less than Q1(critical load of toppling
Lotus)：
Qn=α Q1
In formula：α takes 0.75.
When what is calculated hangs power FaWith FbIt is respectively smaller than QnWhen, now the load suffered by crane is that comparison is safe；Work as Fa
With FbRespectively greater than QnAnd it is less than Q1When, now the load suffered by crane starts to overload；Work as FaWith FbRespectively greater than Q1When, now
The danger that crane topples with happening occasionally.
4) result output module lifting analysis is demonstrated, hang the results such as power dynamic change sent to by LAN it is synchronous aobvious
Show terminal, at the same correspondingly made according to crane situation loaded pre- warning lamp on crane change colour (green, yellow,
It is red).Green represents that the load suffered by crane is that comparison is safe, and yellow represents that the load suffered by crane starts to overload,
Red represents the danger that crane topples with happening occasionally.When indicator lamp be changed into yellow or it is red when, craneman understands root
According to the lifting analysis demonstration shown in simultaneous display terminal, hang power dynamic change Image Adjusting crane and hang multiple operation, prevent from sending out
The danger such as life is toppled, disconnected arm.
Claims (3)
1. a kind of double cars of railway breakdown of view-based access control model measurement hang multiple assist in synchronization control method for coordinating, to aid in railway breakdown
The synchronization of two cranes when double cars hang multiple, it is ensured that hang multiple safety：The space that the scene of the accident is obtained by vision measurement terminal is several
What data message, is returned to background server, and provides the uneven information of load during double car collaborations are hung again in real time, including with
Lower step：
1) after railway accident occurs, carry out collaboration by two cranes and hang again；Vision measurement terminal-pair bag is arranged in the scene of the accident
Include dual systems 3 d space coordinate during hanging again, sat by hoisting locomotive vehicle body space three-dimensional coordinate, lifting point space three-dimensional
Target data carry out live acquisition；And by the data information transfer of acquisition to data preprocessing module；
2) data preprocessing module can filter out required data from background data base automatically, include the space three of dual systems
Hoisting point position on the geometric center of gravity position coordinates of dimension coordinate, the three dimensional space coordinate of locomotive car body and car body, locomotive car body
Coordinate, these data for carried out in subsequent step crane hang it is multiple during hang power, amplitude calculates and provides data foundation；
3) solution calculating will be carried out to data acquired in data preprocessing module by solving module：Detailed process is as follows：
A) the load change process of crane is calculated
The now suffered load F of two cranesaAnd FbRespectively：
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Vertical range of the h-suspension centre to locomotive center；
The distance between l-suspension centre of locomotive homonymy two；
lx- left side suspension centre is disembarked the horizontal range of car body gravity；
G-locomotive quality；
α-locomotive car body leaves the angle formed behind ground with horizontal plane；
B) the adjustment process of two crane arms is calculated according to load change process：
The changes in amplitude β ' and steel cable length l " of two auxiliary cranes
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la- arm is grown；
β-arm and horizontal angle；
The angle of γ-steel cable and arm；
L-locomotive car body length；
The length of l'-steel cable；
h1、h2- the height respectively residing for compartment left and right ends；
The synchronization being transferred to by the upper load for calculating the crane that solution obtains and arm changes in amplitude data on two cranes
Display terminal, real-time display go out to lift the change curve and arm changes in amplitude figure of power, pass through carrying for simultaneous display terminal
Show that craneman carries out collaboration and hangs multiple safety significant operations.
2. the double cars of railway breakdown of view-based access control model measurement according to claim 1 hang multiple assist in synchronization control method for coordinating,
Characterized in that, the vision measurement obtains the 3 d space coordinate of scene of the accident object.
3. the double cars of railway breakdown of view-based access control model measurement according to claim 1 hang multiple assist in synchronization control method for coordinating,
Characterized in that, lifting capacity monitoring and early warning can carry out liter weight check to the load being calculated, when hanging force value beyond one
Fixed scope, carry out alarm sounds.
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| 《双台汽车起重机协同作业载荷分配与三维仿真系统设计》;林艺辉;《中国优秀硕士学位论文全文数据库 工程科技Ⅱ辑》;20140515(第5期);C035-362 * |
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|---|---|
| CN106115489A (en) | 2016-11-16 |
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