CN101414008A - A kind of anti-collision radar system of mining explosion-proof type - Google Patents
A kind of anti-collision radar system of mining explosion-proof type Download PDFInfo
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- CN101414008A CN101414008A CNA200810147697XA CN200810147697A CN101414008A CN 101414008 A CN101414008 A CN 101414008A CN A200810147697X A CNA200810147697X A CN A200810147697XA CN 200810147697 A CN200810147697 A CN 200810147697A CN 101414008 A CN101414008 A CN 101414008A
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Abstract
The invention discloses a kind of anti-collision radar system of mining explosion-proof type, be characterized in that this anti-collision radar system contains ultrasonic sensor (1), control circuit (2) and warning device (6), control circuit is by MCU module (3), RS485 module (4), CAN bus module (5) is formed, ultrasonic sensor and warning device all with the RS4g5 module, the MCU module, the control circuit that the CAN bus module is formed connects, the angle α of ultrasonic sensor and bumper vertical direction is that 3～5 degree are installed on the engineering truck afterbody bumper, the range information that ultrasonic sensor is measured sends radar controller to by the RS485 bus, radar controller carries out analyzing and processing to sensing data, obstacle distance and azimuth information that overall treatment generates are sent to the warning device of engineering truck again by the CAN bus interface.
Description
Technical field
The present invention relates to a kind of anti-collision radar system of mining explosion-proof type, belong to the manufacturing field of mining area robotization and safe production equipment.
Background technology
The mining area is the area occurred frequently of production safety accident always, and mining car is in production operation, particularly very easily leads to security incident during side swipe, and reason is a circumstance complication in the mine laneway, fiery gas bulk concentration height, and barrier is many and assorted.Therefore improving the mining area production automation and safety in production level is urgent problem during current mining area produces.Chinese patent 200720141057.9 discloses a kind of reversing radar of vehicle system.This reversing radar of vehicle system can show obstacle information or audio alert is provided, can realize self-actuating brake again, only be suitable for common driving environment, but there is not the electrical explosion proof measure, precision and real-time can not satisfy the driving environment of mining car, be not suitable for the use occasion of mining car, have the following disadvantages:
1. the damp complicated component in mining area, methane gas concentration height, radar for backing car is not taked explosion precaution design, and the electric inducement that sensor and control circuit produce is in the course of the work very easily ignited airborne damp, leads to serious security incident.
2. the characteristics of mining area barrier are many, assorted, and common radar for backing car does not satisfy desired real-time and accuracy when crashproof.Reason is after sensor sends ultrasound wave, though can receive the reflection echo that emission forms in good time, the influence that reflection echo is understood owing to factors such as the reflectivity properties of barrier self and surrounding environment causes frequency shift (FS) in various degree to send invalid or wrong interfering data.
3. many sensors are worked simultaneously, particularly during close together, exist between sensor and disturb.Be mingled with some invalid or wrong interfering datas in the raw data of sensor test, be difficult for rejecting interfering data.
4. reverse radar system uses computer to control, and volume is bigger, and transplantability is poor, and cost is than higher.
Summary of the invention:
The objective of the invention is to provide a kind of anti-collision radar system of mining explosion-proof type at the deficiencies in the prior art, be characterized in: improving collision avoidance radar precision and warning real-time simultaneously, effectively prevented to cause that because of electric reason combustible gas explosion and tailstock side swipe are to mishaies such as barriers, satisfied mining car under the production environment harsh conditions, for the azimuth-range of the correct disturbance in judgement thing of driver provides guarantee.
Purpose of the present invention is realized by following technical measures.
The anti-collision radar system of mining explosion-proof type
The anti-collision radar system of mining explosion-proof type contains ultrasonic sensor, control circuit and warning device, control circuit is by the MCU module, the RS485 module, the CAN bus module is formed, ultrasonic sensor and warning device all with the RS485 module, the MCU module, the control circuit that the CAN bus module is formed connects, the angle α of ultrasonic sensor and bumper vertical direction is that 3～5 degree are installed on the engineering truck afterbody bumper, the range information that ultrasonic sensor is measured sends radar controller to by the RS485 bus, radar controller carries out analyzing and processing to sensing data, obstacle distance and azimuth information that overall treatment generates are sent to the warning device of engineering truck again by the CAN bus interface.
The MCU module is made up of single-chip microcomputer PIC18F258, reset controller STM809, crystal oscillator, and 1,9 pin of single-chip microcomputer PIC18F258 are connected with reset terminal, crystal oscillator 3 pin of reset controller STM809 respectively.
The RS485 module is connected to form by SN65LBC184 level transferring chip U9,6N137 photo-coupler and rectifier, the R pin of U9 is connected with 3 pin of 6N137 photo-coupler U8 through R13,6 pin of U8 are connected with PIC18F258 single-chip microcomputer 18 pin in the MCU module, 2,3 pin of U9 are connected with 6N137 photo-coupler U6 by R11, C7,3 pin of U6 are connected with PIC18F258 single-chip microcomputer 16 pin in the MCU module, 4 pin of U9 are connected with 6N137 photo-coupler U7 by R12, C8, and 3 pin of U7 are connected with PIC18F258 single-chip microcomputer 17 pin in the MCU module.
The CAN bus module is made up of CAN transceiver PCA82C250,6N137 photo-coupler, the TXD pin of PCA82C250 is connected with 6N137 photo-coupler U2,3 pin of U2 are connected with PIC18F258 single-chip microcomputer 23 pin, the RXD pin of PCA82C250 is connected with 3 pin of 6N137 photo-coupler U3 through R5, and 6 pin of U3 are connected with PIC18F258 single-chip microcomputer 24 pin.
Controller has carried out analyzing and processing for sensing data, handles the distance and bearing information that has generated barrier by data anastomosing algorithm.
Distance that the alarming device controller provides and azimuth information, display or speech prompting system by alarming device send information warning.
Ultrasonic sensor is an explosion-proof type.
The anti-collision radar system each several part is by the power supply of essential safety power supply, and this essential safety power supply is provided by observing and controlling research institute of University of Electronic Science and Technology.
Alarming device provides distance and azimuth information by master controller, and display or speech prompting system by alarming device send information warning.
The anti-collision radar system each several part is powered by the essential safety power supply, and the essential safety power supply is provided by observing and controlling research institute of University of Electronic Science and Technology.
Anti-collision radar system has carried out static state and dynamic property repeatedly and has detected test, see for details shown in Fig. 7,8, the result shows: the distance and bearing data that anti-collision radar system provides have higher accuracy and real-time, have satisfied requirement of safe production under the complex environment of mining area.
The present invention has the following advantage that has:
1. each module all is to require to carry out explosion-proof design according to standard GB 3836.4-2000 " explosive gas atmosphere electrical installation ", has satisfied the requirement of explosion proof in mining area.
2. the data passed back of sensor have been carried out overall treatment by data anastomosing algorithm, have improved the accuracy and the real-time of distance and bearing data, satisfy the requirement of the operation of keeping the safety in production under the complex environment of mining area.
3. each modular structure compactness of the present invention, it is little to take volume, easy for installation, and transplantability is good.
Description of drawings
Fig. 1 is a structured flowchart of the present invention.
1. ultrasonic sensor, 2. control circuit, 3.MCU module, 4.RS485 module, 5.CAN bus module, 6. warning device.
Fig. 2 is the scheme of installation of sensor of the present invention.
7. engineering truck bumper.
Fig. 3 is a MCU modular circuit schematic diagram of the present invention.
Fig. 4 is a RS485 modular circuit schematic diagram of the present invention.
Fig. 5 is a CAN modular circuit schematic diagram of the present invention.
Fig. 6 is a sensing range synoptic diagram of the present invention.
Design sketch when Fig. 7 is a detection static data of the present invention.
Design sketch when Fig. 8 is a detection dynamic data of the present invention.
The raw data that redness spreads out of for sensor in Fig. 7 and Fig. 8, the data that blueness is crossed for algorithm process.
Embodiment
Below by embodiment the present invention is specifically described; be necessary to be pointed out that at this present embodiment only is used for the present invention is further specified; can not be interpreted as limiting the scope of the invention, the person skilled in the art in this field can make some nonessential improvement and adjustment according to the content of the invention described above.
Embodiment
As shown in Figure 1, anti-collision radar system of the present invention contains ultrasonic sensor 1, control circuit 2 and warning device 6, control circuit is by MCU module 3, RS485 module 4, CAN bus module 5 is formed, ultrasonic sensor and warning device all with the RS485 module, the MCU module, the control circuit that the CAN bus module is formed connects, the range information that ultrasonic sensor is measured sends radar controller to by the RS485 bus, radar controller carries out analyzing and processing to sensing data, obstacle distance and azimuth information that overall treatment generates, be sent to the master controller of engineering truck by the CAN bus interface, master controller generates information warning according to distance and bearing information, offers the driver by warning device.
Collision avoidance radar controller and working power are to have welded the circuit board of device, are installed in the Flameproof box, and 5 external connections are by drawing in the explosion-proof tank.
As shown in Figure 2, ultrasonic sensor 1 is 3～5 degree with the angle α of bumper 7 vertical direction, and three sensors are equidistantly to be installed on the engineering truck afterbody bumper.
As shown in Figure 3, the MCU module is made up of single-chip microcomputer PIC18F258, reset controller STM809, crystal oscillator, and 1,9 pin of single-chip microcomputer PIC18F258 are connected with reset terminal, crystal oscillator 3 pin of reset controller STM809 respectively.What MCU module controls chip adopted is the PIC18F258 single-chip microcomputer.PIC18F258 is a kind of integrated CAN bus module that the U.S. little core company produces, and adopts the single-chip microcomputer of RISC order set, Harvard's bus structure, low-power consumption, two-forty.
As shown in Figure 4, the RS485 module is connected to form by SN65LBC184 level transferring chip U9,6N137 photo-coupler and rectifier, the R pin of U9 is connected with 3 pin of 6N137 photo-coupler U8 by R13,6 pin of U8 are connected with PIC18F258 single-chip microcomputer 18 pin in the MCU module, 2,3 pin of U9 are connected with 6N137 photo-coupler U6 by R11, C7,3 pin of U6 are connected with PIC18F258 single-chip microcomputer 16 pin in the MCU module, 4 pin of U9 are connected with 6N137 photo-coupler U6 by R12, C8, and 3 pin of U6 are connected with PIC18F258 single-chip microcomputer 17 pin in the MCU module.RS-485 is generally powered by the 5V power supply, signal output voltage is all within 5V, the operate as normal output current is very little, maximum 100 milliamperes of short-circuit current satisfies the requirement of standard GB 3836.4-2000 " explosive gas atmosphere electrical installation the 4th part: essential safe type " i " " for intrinsically safe circuit fully.Simultaneously the RS-485 bus as one based on single to the multiple spot of balanced line, two-way, half duplex communication link, adopt balance to send and differential received, have quite high noise inhibiting ability (7～+ 12V bus common mode range), satisfy designing requirement of the present invention fully.
As shown in Figure 5, the CAN bus module is made up of CAN transceiver PCA82C250,6N137 photo-coupler, the TXD pin of PCA82C250 is connected with 6N137 photo-coupler U2,3 pin of U2 are connected with PIC18F258 single-chip microcomputer 23 pin, the RXD pin of PCA82C250 is connected with 3 pin of 6N137 photo-coupler U3 by R5, and 6 pin of U3 are connected with PIC18F258 single-chip microcomputer 24 pin.The CAN controller module of PIC18F258 and high-speed CAN transceiver PCA82C250 are used for communicating with other chip and controller jointly, and this interface protocol can communicate in bigger noise circumstance, has good antijamming capability.The CAN bus is the how main working method of a kind of employing, is suitable for distributed control system simultaneously, and has very high real-time and reliability, therefore is applicable in environment of mining area and uses, and can satisfy designing requirement of the present invention.
All adopt the 6N137 photo-coupler in anti-collision radar system RS485 module and the CAN bus module.This photo-coupler makes the signal one-way transmission, and input end and output terminal have been realized electrical isolation fully, and output signal does not have influence to input end, and antijamming capability is strong, and working stability is contactless, long service life, and the transfer efficiency height can satisfy designing requirement of the present invention.
Anti-collision radar system is at mining area barrier situation complexity, the barrier reflector situation is changeable, easily make ultrasonic sensor produce the characteristics of wrong and invalid data, the data that controller receives have been carried out the data anastomosing algorithm processing, rejected invalid data and misdata, satisfied the requirement of the present invention real-time and accuracy.Detailed process is described below: at first handle the blind area data (in the 50cm, beyond the 700cm), then data are carried out filtration treatment, reject mistake or invalid data, find out useful data, judge the relative motion situation of barrier, constantly adjust the Fuzzy Processing parameter according to the situation of data variation, in the predefined weighting algorithm formula of substitution, calculate barrier range information accurately.Simultaneously single-chip microcomputer records difference between the distance value separately according to three sensors in left, center, right, obtains the azimuth information of barrier, thereby obtains obstacle distance and azimuth information, has reached the requirement of the present invention for real-time and accuracy.
As shown in Figure 6, in order to determine the sensing range of this radar system, in experiment, be 150cm with length, sectional area is 15 * 20cm
2Batten be barrier, waddy is vertically placed.With the bumper is X-axis, the bumper vertical direction is that Y-axis is set up rectangular coordinate system, waddy is a numerical point with respect to intermediate sensor probe home position. waddy is at X-axis-60～60cm, move in the scope of Y-axis 0～700cm, in the detected numerical point input of collision avoidance radar matlab, generate effective check point coordinate diagram, promptly obtain sensing range of the present invention.
As shown in Figure 7, detecting the effect of static data in order to determine native system, is 80 * 60cm with area
2Metal sheet be barrier, the static position that is placed on from sensor probe 200cm, the numerical point that collision avoidance radar detects is imported among the matlab, (X-axis is the time to the coordinate of generation check point, Y-axis is a distance value), the raw data that redness spreads out of for sensor, the data that blueness is crossed for algorithm process.Design sketch during detection static data of the present invention.
As shown in Figure 8, detecting the effect of dynamic data in order to determine native system, is 80 * 60cm with area
2Metal sheet be barrier, sheet metal moves around on the vertical direction of bumper, the numerical point that collision avoidance radar detects is imported among the matlab, (X-axis is the time to the coordinate of generation check point, Y-axis is a distance value), the raw data that redness spreads out of for sensor, the data that blueness is crossed for algorithm process.
Claims (8)
1. the anti-collision radar system of a mining explosion-proof type, it is characterized in that: this anti-collision radar system contains ultrasonic sensor (1), control circuit (2) and warning device (6), control circuit is by MCU module (3), RS485 module (4), CAN bus module (5) is formed, ultrasonic sensor and warning device all with the RS485 module, the MCU module, the control circuit that the CAN bus module is formed connects, the angle α of ultrasonic sensor and bumper vertical direction is that 3～5 degree are installed on the engineering truck afterbody bumper, the range information that ultrasonic sensor is measured sends radar controller to by the RS485 bus, radar controller carries out analyzing and processing to sensing data, obstacle distance and azimuth information that overall treatment generates are sent to the warning device of engineering truck again by the CAN bus interface.
2. according to the anti-collision radar system of the described mining explosion-proof type of claim 1, it is characterized in that: the MCU module is made up of single-chip microcomputer PIC18F258, reset controller STM809, crystal oscillator, and 1,9 pin of single-chip microcomputer PIC18F258 are connected with reset terminal, crystal oscillator 3 pin of reset controller STM809 respectively.
3. according to the anti-collision radar system of the described mining explosion-proof type of claim 1, it is characterized in that: the RS485 module is by SN65LBC184 level transferring chip U9,6N137 photo-coupler and rectifier connect to form, the R pin of U9 is connected with 3 pin of 6N137 photo-coupler U8 by R13,6 pin of U8 are connected with PIC18F258 single-chip microcomputer 18 pin in the MCU module, 2 of U9,3 pin pass through R11, C7 is connected with 6N137 photo-coupler U6,3 pin of U6 are connected with PIC18F258 single-chip microcomputer 16 pin in the MCU module, 4 pin of U9 pass through R12, C8 is connected with 6N137 photo-coupler U6, and 3 pin of U6 are connected with PIC18F258 single-chip microcomputer 17 pin in the MCU module.
4. according to the anti-collision radar system of the described mining explosion-proof type of claim 1, it is characterized in that: the CAN bus module is made up of CAN transceiver PCA82C250,6N137 photo-coupler, the TXD pin of PCA82C250 is connected with 6N137 photo-coupler U2,3 pin of U2 are connected with PIC18F258 single-chip microcomputer 23 pin, the RXD pin of PCA82C250 is connected with 3 pin of 6N137 photo-coupler U3 by R5, and 6 pin of U3 are connected with PIC18F258 single-chip microcomputer 24 pin.
5. according to the anti-collision radar system of the described mining explosion-proof type of claim 1, it is characterized in that: controller has carried out analyzing and processing for sensing data, handles the distance and bearing information that has generated barrier by data anastomosing algorithm.
6. according to the anti-collision radar system of the described mining explosion-proof type of claim 1, it is characterized in that: distance that the alarming device controller provides and azimuth information, display or speech prompting system by alarming device send information warning.
7. according to the anti-collision radar system of the described mining explosion-proof type of claim 1, it is characterized in that: ultrasonic sensor is an explosion-proof type.
8. according to the anti-collision radar system of the described mining explosion-proof type of claim 1, it is characterized in that: the anti-collision radar system each several part is powered by the essential safety power supply.
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| CNA200810147697XA CN101414008A (en) | 2008-11-27 | 2008-11-27 | A kind of anti-collision radar system of mining explosion-proof type |
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| CNA200810147697XA CN101414008A (en) | 2008-11-27 | 2008-11-27 | A kind of anti-collision radar system of mining explosion-proof type |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101883036A (en) * | 2010-06-25 | 2010-11-10 | 上海铁大电信设备有限公司 | Method for converting multi-path RS485 bus into CAN (Controller Area Network) bus in the manner of self-adapting |
| CN103692971A (en) * | 2013-12-13 | 2014-04-02 | 常州联力自动化科技有限公司 | Mining vehicle alarm |
| CN109696665A (en) * | 2018-12-28 | 2019-04-30 | 百度在线网络技术（北京）有限公司 | Processing method, device and the equipment of ultrasonic sensor measurement data |
-
2008
- 2008-11-27 CN CNA200810147697XA patent/CN101414008A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101883036A (en) * | 2010-06-25 | 2010-11-10 | 上海铁大电信设备有限公司 | Method for converting multi-path RS485 bus into CAN (Controller Area Network) bus in the manner of self-adapting |
| CN103692971A (en) * | 2013-12-13 | 2014-04-02 | 常州联力自动化科技有限公司 | Mining vehicle alarm |
| CN109696665A (en) * | 2018-12-28 | 2019-04-30 | 百度在线网络技术（北京）有限公司 | Processing method, device and the equipment of ultrasonic sensor measurement data |
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Open date: 20090422 |