CN102849085B - Safety monitoring device and safety monitoring method for track working vehicle - Google Patents

Abstract

The invention discloses a safety monitoring device and a safety monitoring method for a track working vehicle. The torque generated to the left wheel and the right wheel by load in a rotating platform is calculated in real time based on the arrangement of a weighing sensor, and the torque generated to the left wheel and the right wheel by the vehicle body and the rotating platform is calculated in real time, so that a total torque value can be obtained; and then, whether the track working vehicle in the current pose position and orientation is in overturn risks or not is judged in real time according to the torque value, and an alarm is started when the risks are to happen. With the adoption of the device and the method, the real-time property is high, the judgment is exact, the safety work can be ensured furthest, and the safety is high. The device and the method are great in social and economic benefits.

Description

Track operation car safety monitoring device and method for safety monitoring thereof

Technical field

The present invention relates to a kind of track operation car safety monitoring device and method for safety monitoring thereof.

Background technology

Track operation car is for detecting a kind of engineering working vehicle of railway (comprising high ferro, subway, city rail) electrical network, because orbit altitude inside and outside rail is inconsistent, make Operation Van travel or maintenance process in there is the phenomenon of centre-of gravity shift.When rail vehicle job position rail height tolerance adds the job platform anglec of rotation, make centre-of gravity shift to nearside wheel in time, just cause Operation Van's capsizing case.High ferro Operation Van, while parking operation in certain position, need to first be used the diff-H of two rails of track forces manual measurement at present, then determine whether to carry out upkeep operation by rotation platform, or the how many degree of rotation carries out operation at most.The method efficiency is extremely low, and does not consider that the different quality of various vehicles distributes, and can not accurately judge.

Summary of the invention

Technical matters to be solved by this invention is to provide a kind of track operation car safety monitoring device and method for safety monitoring thereof, and this track operation car safety monitoring device and method for safety monitoring real-time thereof are good, judgment accuracy is high, and easy to implement.

The technical solution of invention is as follows:

A track operation car safety monitoring device, described track operation car comprises the rotation platform on car body and car body; It is right that vehicle bottom is provided with 2 groups of wheels; Described track operation car safety monitoring device comprises central process unit, an angular transducer and n LOAD CELLS, and n is more than or equal to 2 integer; Angular transducer is all connected with central process unit with a plurality of LOAD CELLS;

Described angular transducer is arranged on the right side of wheel, and for detection of the angle α of orbit plane and horizontal surface, n LOAD CELLS is installed on rotation platform; The axle center of n LOAD CELLS and rotation platform is straight line, and n LOAD CELLS to the distance of centre of gration be respectively R1, R2 ..., Rn;

Described central process unit calculates car body, rotation platform and load-carrying to taking turns the moment to producing for real-time, and implements to judge according to this moment whether the track operation car in current attitude exists the risk of toppling.

LOAD CELLS is 4.

Described track operation car safety monitoring device also comprises the annunciator being connected with central process unit.

Described moment is the resultant couple M that revolver is subject to _lwith the right resultant couple M being subject to that takes turns _r:

(1) the resultant couple M that revolver is subject to _lcomputing formula be:

M _L＝M _L1+M _L2+M _L3；

Wherein, M _l1for the moment of car body to revolver;

M _l2for the moment of rotation platform to revolver;

M _l3for the some moment to revolver of respectively weighing on rotation platform, the i.e. moment of load-carrying on rotation platform to revolver;

$M_{L1}=\sqrt{X^2+{\left(\frac{B}{2}\right)}^2}\·\cos (\arctan \left(\frac{2\·X}{B}\right)+\mathrm{\α})\·G;$

Wherein, the barycenter that X is car body is to the distance of orbit plane;

B is gauge;

G is car body gravity;

$M_{L2}=(\frac{B}{2}-\frac{P}{2}\·\sin \mathrm{\β}-H\·\tan \mathrm{\α})/\cos \mathrm{\α}\·G1;$

Wherein, P is that rotation platform rotating shaft is to the distance of operation horizontal table top far-end;

H is Operation Van's height;

G1 is rotation platform gravity;

β is that rotation platform is with respect to the corner of car body;

$M_{L3}=\underset{i=1}{\overset{n}{\mathrm{\Σ}}}(\frac{B}{2}-R_i\·\sin \mathrm{\β}-H\·\tan \mathrm{\α})/\cos \·V_i;$

V _ibe the numerical value of weighing of i LOAD CELLS, i=1,2 ..., n;

(2) the right resultant couple M being subject to that takes turns _rcomputing formula be:

M _R＝M _R1+M _R2+M _R3

Wherein, M _r1for car body is to right moment of taking turns;

M _r2for rotation platform is to right moment of taking turns;

M _r3for respectively weighing a little to right moment of taking turns on rotation platform, i.e. load-carrying is to right moment of taking turns;

Have

$M_{R1}=[B\·\cos \mathrm{\α}-\sqrt{X^2+{\left(\frac{B}{2}\right)}^2}\·\cos (\arctan \left(\frac{2\·X}{B}\right)+\mathrm{\α})]\·G;$

$M_{R2}=(\frac{B}{2}+\frac{P}{2}\·\sin \mathrm{\β}+H\·\tan \mathrm{\α})/\cos \mathrm{\α}\·G1;$

$M_{R3}=\underset{i=1}{\overset{n}{\mathrm{\Σ}}}(\frac{B}{2}+R_i\·\sin \mathrm{\β}+H\·\tan \mathrm{\α})/\cos \·V_i;$

Note parking warning moment values is Mw; If M _l>=Mw or M _r>=Mw, forbids that track operation car stops at this place; If M _l< Mw and M _r< Mw, shows that track operation car is safe when in current pose.

A method for safety monitoring based on aforesaid track operation car safety monitoring device, adopt angular transducer to measure in real time the angle α of orbit plane and horizontal surface, and Real-time Obtaining platform is with respect to the corner β of car body and the numerical value V that weighs of n LOAD CELLS ₁～V _n; Then calculate in real time the resultant couple M that revolver is subject to _lwith the right resultant couple M being subject to that takes turns _r:

(1) the resultant couple M that revolver is subject to _lcomputing formula be:

M _L＝M _L1+M _L2+M _L3；

Wherein, M _l1for the moment of car body to revolver;

M _l2for the moment of rotation platform to revolver;

M _l3for the some moment to revolver of respectively weighing on rotation platform, the i.e. moment of load-carrying to revolver;

$M_{L1}=\sqrt{X^2+{\left(\frac{B}{2}\right)}^2}\&CenterDot;\cos (\arctan \left(\frac{2\&CenterDot;X}{B}\right)+\mathrm{\&alpha;})\&CenterDot;G;$

Wherein, the barycenter that X is car body is to the distance of orbit plane;

B is gauge;

G is car body gravity;

$M_{L2}=(\frac{B}{2}-\frac{P}{2}\&CenterDot;\sin \mathrm{\&beta;}-H\&CenterDot;\tan \mathrm{\&alpha;})/\cos \mathrm{\&alpha;}\&CenterDot;G1;$

Wherein, P is that rotation platform rotating shaft is to the distance of operation horizontal table top far-end;

H is Operation Van's height;

G1 is rotation platform gravity;

β is that rotation platform is with respect to the corner of car body;

$M_{L3}=\underset{i=1}{\overset{n}{\mathrm{\&Sigma;}}}(\frac{B}{2}-R_i\&CenterDot;\sin \mathrm{\&beta;}-H\&CenterDot;\tan \mathrm{\&alpha;})/\cos \&CenterDot;V_i;$

V _ibe the numerical value of weighing of i LOAD CELLS, i=1,2 ..., n;

(2) the right resultant couple M being subject to that takes turns _rcomputing formula be:

M _R＝M _R1+M _R2+M _R3

Wherein, M _r1for car body is to right moment of taking turns;

M _r2for rotation platform is to right moment of taking turns;

M _r3for respectively weighing a little to right moment of taking turns on rotation platform, i.e. load-carrying is to right moment of taking turns;

Have

$M_{R1}=[B\&CenterDot;\cos \mathrm{\&alpha;}-\sqrt{X^2+{\left(\frac{B}{2}\right)}^2}\&CenterDot;\cos (\arctan \left(\frac{2\&CenterDot;X}{B}\right)+\mathrm{\&alpha;})]\&CenterDot;G;$

$M_{R2}=(\frac{B}{2}+\frac{P}{2}\&CenterDot;\sin \mathrm{\&beta;}+H\&CenterDot;\tan \mathrm{\&alpha;})/\cos \mathrm{\&alpha;}\&CenterDot;G1;$

$M_{R3}=\underset{i=1}{\overset{n}{\mathrm{\&Sigma;}}}(\frac{B}{2}+R_i\&CenterDot;\sin \mathrm{\&beta;}+H\&CenterDot;\tan \mathrm{\&alpha;})/\cos \&CenterDot;V_i;$

Note parking warning moment values is Mw;

Judgment mode is: if M _l>=Mw or M _r>=Mw, forbids that track operation car stops at this place, and provides warning; If M _l< Mw or M _r< Mw, shows that track operation car is safe when in current pose.

Technical conceive of the present invention:

As illustrated in fig. 1 and 2, this device to a side setting angle sensor, detects the angle α of orbit plane and horizontal surface at wheel to track operation car in real time, by calculating, forms superelevation of outer rail value demonstration h after conversion.Computing formula: h=Bsin α;

(1), referring to Fig. 4, the weight of car body own to the moment of left side side wheel is:

$M_{L1}=\sqrt{X^2+{\left(\frac{B}{2}\right)}^2}\&CenterDot;\cos (\arctan \left(\frac{2\&CenterDot;X}{B}\right)+\mathrm{\&alpha;})\&CenterDot;G;$

Derivation is: $Y=\sqrt{X^2+{\left(\frac{B}{2}\right)}^2};\&angle;a=\left(\arctan \left(\frac{2\&CenterDot;X}{B}\right)\right);$

$\&angle;b=\&angle;a+\mathrm{\&alpha;}=(\arctan \left(\frac{2\&CenterDot;X}{B}\right)+\mathrm{\&alpha;})$

So:

Right side Calculating Torque during Rotary is the same.

The right side arm of force=B * cos α ÷ 2-D; Right side moment

(2) moment that detection platform self produces in real time, platform quality is for being uniformly distributed, and barycenter is positioned at platform center, and behind rotation β angle, being mapped to wheel is P/2*sin β to the distance in plane.The arm of force is analyzed as Fig. 5,

Platform to the moment of revolver is: $M_{L2}=(\frac{B}{2}-\frac{P}{2}\&CenterDot;\sin \mathrm{\&beta;}-H\&CenterDot;\tan \mathrm{\&alpha;})/\cos \mathrm{\&alpha;}\&CenterDot;G1;$

In like manner, platform to right Calculating Torque during Rotary formula of taking turns is:

$M_{R2}=(\frac{B}{2}+\frac{P}{2}\&CenterDot;\sin \mathrm{\&beta;}+H\&CenterDot;\tan \mathrm{\&alpha;})/\cos \mathrm{\&alpha;}\&CenterDot;G1;$

(3) real-time respectively the weigh moment of a generation of detection platform,

Principle is identical with the moment of platform itself, and P/2 is replaced with to corresponding distance R 1, R2 ... Rn.

Load-carrying to the moment of revolver is: $M_{L3}=\underset{i=1}{\overset{n}{\mathrm{\&Sigma;}}}(\frac{B}{2}-R_i\&CenterDot;\sin \mathrm{\&beta;}-H\&CenterDot;\tan \mathrm{\&alpha;})/\cos \&CenterDot;V_i;$

Load-carrying is the same to right Calculating Torque during Rotary mode of taking turns.

$M_{R3}=\underset{i=1}{\overset{n}{\mathrm{\&Sigma;}}}(\frac{B}{2}+R_i\&CenterDot;\sin \mathrm{\&beta;}+H\&CenterDot;\tan \mathrm{\&alpha;})/\cos \&CenterDot;V_i;$

Instant locking job platform (the parking barrier line that Mw is moment, leave surplus, otherwise Mw has overturned while being zero), vehicle is different, and value is different, and one of golden hawk series got 25000Nm.

To revolver moment: M _l=M _l1+ M _l2+ M _l3

To the right moment M that takes turns _rin like manner.M _R＝M _R1+M _R2+M _R3

Work as M _l>=Mw or M _rduring>=Mw, forbid that Operation Van is in this place's parking.

Under the condition of meet stopping, on one side platform rotate, Yi Bian calculate M _l, work as M _lduring≤Mw, disconnect the control loop of platform anticlockwise, make job platform and can not rotate to the left, guarantee job safety.

The account form that platform rotates is to the right the same.Under the condition of meet stopping, on one side platform rotate, Yi Bian calculate M _r, work as M _rduring≤Mw, disconnect the control loop of platform right rotation, make job platform and can not rotate to the right, guarantee job safety.

Beneficial effect:

Track operation car safety monitoring device of the present invention and method for safety monitoring thereof, load-carrying based on the real-time calculating rotation platform of arranging of LOAD CELLS is to revolver and right moment of taking turns generation, and calculate in real time car body and rotation platform itself to revolver and right moment of taking turns generation, thereby obtain total moment values, according to moment values real-time judge track operation car, whether there is again the risk of toppling when the current pose, and start and report to the police when approaching danger, real-time is high, accuracy of judgement, operation can farthest ensure safety, safe, there is great Social benefit and economic benefit.

Accompanying drawing explanation

Fig. 1 is track operation car front elevation;

Fig. 2 is track operation car birds-eye view;

Fig. 3 is rotation platform upper sensor distribution schematic diagram;

Fig. 4 is the schematic diagram of track operation parking stall on slope time;

Fig. 5 is arm of force analysis chart;

Fig. 6 is the principle of work block diagram of whole track operation car safety monitoring device;

Fig. 7 is the electrical connection diagram of system.

The specific embodiment

A track operation car safety monitoring device, described track operation car comprises the rotation platform on car body and car body; It is right that vehicle bottom is provided with 2 groups of wheels; Described track operation car safety monitoring device comprises central process unit, an angular transducer and n LOAD CELLS, and n is more than or equal to 2 integer; Angular transducer is all connected with central process unit with a plurality of LOAD CELLS;

Described angular transducer is arranged on the right side of wheel, and for detection of the angle α of orbit plane and horizontal surface, n LOAD CELLS is installed on rotation platform; The axle center of n LOAD CELLS and rotation platform is straight line, and n LOAD CELLS to the distance of centre of gration be respectively R1, R2 ..., Rn;

Described central process unit calculates car body, rotation platform and load-carrying to taking turns the moment to producing for real-time, and implements to judge according to this moment whether the track operation car in current attitude exists the risk of toppling.

LOAD CELLS is 4.

Described track operation car safety monitoring device also comprises the annunciator being connected with central process unit.

Described moment is the resultant couple M that revolver is subject to _lwith the right resultant couple M being subject to that takes turns _r:

(1) the resultant couple M that revolver is subject to _lcomputing formula be:

M _L＝M _L1+M _L2+M _L3；

Wherein, M _l1for the moment of car body to revolver;

M _l2for the moment of rotation platform to revolver;

M _l3for the some moment to revolver of respectively weighing on rotation platform, the i.e. moment of load-carrying on rotation platform to revolver;

$M_{L1}=\sqrt{X^2+{\left(\frac{B}{2}\right)}^2}\&CenterDot;\cos (\arctan \left(\frac{2\&CenterDot;X}{B}\right)+\mathrm{\&alpha;})\&CenterDot;G;$

Wherein, the barycenter that X is car body is to the distance of orbit plane;

B is gauge;

G is car body gravity;

$M_{L2}=(\frac{B}{2}-\frac{P}{2}\&CenterDot;\sin \mathrm{\&beta;}-H\&CenterDot;\tan \mathrm{\&alpha;})/\cos \mathrm{\&alpha;}\&CenterDot;G1;$

Wherein, P is that rotation platform rotating shaft is to the distance of operation horizontal table top far-end;

H is Operation Van's height;

G1 is rotation platform gravity;

β is that rotation platform is with respect to the corner of car body;

$M_{L3}=\underset{i=1}{\overset{n}{\mathrm{\&Sigma;}}}(\frac{B}{2}-R_i\&CenterDot;\sin \mathrm{\&beta;}-H\&CenterDot;\tan \mathrm{\&alpha;})/\cos \&CenterDot;V_i;$

V _ibe the numerical value of weighing of i LOAD CELLS, i=1,2 ..., n;

(2) the right resultant couple M being subject to that takes turns _rcomputing formula be:

M _R＝M _R1+M _R2+M _R3

Wherein, M _r1for car body is to right moment of taking turns;

M _r2for rotation platform is to right moment of taking turns;

M _r3for respectively weighing a little to right moment of taking turns on rotation platform, i.e. load-carrying is to right moment of taking turns;

Have

$M_{R1}=[B\&CenterDot;\cos \mathrm{\&alpha;}-\sqrt{X^2+{\left(\frac{B}{2}\right)}^2}\&CenterDot;\cos (\arctan \left(\frac{2\&CenterDot;X}{B}\right)+\mathrm{\&alpha;})]\&CenterDot;G;$

$M_{R2}=(\frac{B}{2}+\frac{P}{2}\&CenterDot;\sin \mathrm{\&beta;}+H\&CenterDot;\tan \mathrm{\&alpha;})/\cos \mathrm{\&alpha;}\&CenterDot;G1;$

$M_{R3}=\underset{i=1}{\overset{n}{\mathrm{\&Sigma;}}}(\frac{B}{2}+R_i\&CenterDot;\sin \mathrm{\&beta;}+H\&CenterDot;\tan \mathrm{\&alpha;})/\cos \&CenterDot;V_i;$

Note parking warning moment values is Mw; If M _l>=Mw or M _r>=Mw, forbids that track operation car stops at this place; If M _l< Mw and M _r< Mw, shows that track operation car is safe when in current pose.

A track operation car method for safety monitoring, adopt angular transducer to measure in real time the angle α of orbit plane and horizontal surface, and Real-time Obtaining platform is with respect to the corner β of car body and the numerical value V that weighs of n LOAD CELLS ₁～V _n; Then calculate in real time the resultant couple M that revolver is subject to _lwith the right resultant couple M being subject to that takes turns _r:

(1) the resultant couple M that revolver is subject to _lcomputing formula be:

M _L＝M _L1+M _L2+M _L3；

Wherein, M _l1for the moment of car body to revolver;

M _l2for the moment of rotation platform to revolver;

M _l3for the some moment to revolver of respectively weighing on rotation platform, the i.e. moment of load-carrying to revolver;

$M_{L1}=\sqrt{X^2+{\left(\frac{B}{2}\right)}^2}\&CenterDot;\cos (\arctan \left(\frac{2\&CenterDot;X}{B}\right)+\mathrm{\&alpha;})\&CenterDot;G;$

Wherein, the barycenter that X is car body is to the distance of orbit plane;

B is gauge;

G is car body gravity;

$M_{L2}=(\frac{B}{2}-\frac{P}{2}\&CenterDot;\sin \mathrm{\&beta;}-H\&CenterDot;\tan \mathrm{\&alpha;})/\cos \mathrm{\&alpha;}\&CenterDot;G1;$

Wherein, P is that rotation platform rotating shaft is to the distance of operation horizontal table top far-end;

H is Operation Van's height;

G1 is rotation platform gravity;

β is that rotation platform is with respect to the corner of car body;

$M_{L3}=\underset{i=1}{\overset{n}{\mathrm{\&Sigma;}}}(\frac{B}{2}-R_i\&CenterDot;\sin \mathrm{\&beta;}-H\&CenterDot;\tan \mathrm{\&alpha;})/\cos \&CenterDot;V_i;$

V _ibe the numerical value of weighing of i LOAD CELLS, i=1,2 ..., n;

(2) the right resultant couple M being subject to that takes turns _rcomputing formula be:

M _R＝M _R1+M _R2+M _R3

Wherein, M _r1for car body is to right moment of taking turns;

M _r2for rotation platform is to right moment of taking turns;

M _r3for respectively weighing a little to right moment of taking turns on rotation platform, i.e. load-carrying is to right moment of taking turns;

Have

$M_{R1}=[B\&CenterDot;\cos \mathrm{\&alpha;}-\sqrt{X^2+{\left(\frac{B}{2}\right)}^2}\&CenterDot;\cos (\arctan \left(\frac{2\&CenterDot;X}{B}\right)+\mathrm{\&alpha;})]\&CenterDot;G;$

$M_{R2}=(\frac{B}{2}+\frac{P}{2}\&CenterDot;\sin \mathrm{\&beta;}+H\&CenterDot;\tan \mathrm{\&alpha;})/\cos \mathrm{\&alpha;}\&CenterDot;G1;$

$M_{R3}=\underset{i=1}{\overset{n}{\mathrm{\&Sigma;}}}(\frac{B}{2}+R_i\&CenterDot;\sin \mathrm{\&beta;}+H\&CenterDot;\tan \mathrm{\&alpha;})/\cos \&CenterDot;V_i;$

Note parking warning moment values is Mw;

Judgment mode is: if M _l>=Mw or M _r>=Mw, forbids that track operation car stops at this place, and provides warning; If M _l< Mw or M _r< Mw, shows that track operation car is safe when in current pose.

Below with reference to the drawings and specific embodiments, the present invention is described in further details:

Embodiment 1:

Device can be by the action of meta travel switch and electromagnetic valve, and the slew mode of real-time monitoring platform, and the residing position of real-time judge job platform demonstration thus, make job platform present position very clear.The angle of use angle sensor measurement axletree and horizontal surface, by calculating difference in level, shows by charactron.

Platform not reset line car test is surveyed

Platform not reset line appearance of vehicle easily causes safety misadventure.This device can detect gear signal, and when platform does not reset, and Operation Van is while starting (not in neutral position), can audio alert prompting, guarantee safety.

Audio alert prompting

When superelevation of outer rail or platform load-bearing surpass limit value, carry out audio alert, remind operating personnel, guarantee safety.

Record job platform operational motion

Device is obtained platform operations signal from Operation Van, and the time of origin of real time recording platform operations is, the information such as the operational motion of platform, the residing position of platform, superelevation of outer rail value, platform load-bearing value and Operation Van's license number can be used for Ground analysis.

Adopt USB flash disk to carry out data access

Device has been equipped with USB interface, adopts USB flash disk to carry out data storage.Can arrange or updating device information by USB flash disk, simultaneously also can be by USB flash disk from device for reading data record, so that Ground analysis.

Install collection and the control principle of each signal

The main signal gathering of this device has: horizontal tilt angle, platform meta signal, platform rotating signal, Operation Van's neutral signal, platform load-bearing signal.Major control signal has, platform rotation control signal.

Device principle of work block diagram is as Fig. 6.

Horizontal tilt angular transducer mainly adopts micro-mechanical gyroscope principle, and precision reaches 0.01 degree.α in formula is above.

Platform meta signal, platform rotating signal, Operation Van's neutral signal adopt photoelectrical coupler to obtain from Operation Van corresponding port.

Load-bearing signal adopts four pressure-strain devices, and computing platform is mass distribution everywhere, thereby provides original data for Calculating Torque during Rotary.

Voice adopt high-fidelity speech chip+power amplifier to realize, and lamprophonia, loud, reaches Operation Van's environment operating needs completely.

The mode of controlling electromagnetic valve coil normally closed contact by sealing in rotating machine locks platform spinning movement.

System is in kind to be realized

System adopts modular design, comprise main frame, slave, angular transducer, LOAD CELLS, main frame is mainly used to read LOAD CELLS, angular transducer data, reading platform meta signal, neutral signal, calculate main moment, control the electric loop of platform rotation simultaneously.Slave is mainly for when the reverse driving of driver, facilitates observation platform situation, without controlling function.Angular transducer is mainly used to measuring machine Car Track and horizontal plane angle.LOAD CELLS is mainly used to measure computing platform mass distribution.System connection diagram as shown in Figure 7.

Calculated examples:

The golden hawk track Jw-3 of take is basic model, and on platform, mean distance is installed 4 LOAD CELLS, is respectively: 1 meter, 2 meters, 3 meters, 4 meters apart from the distance of rotating shaft.

H: 4.7 meters of Operation Van's height;

P: platform rotating shaft is to 4.5 meters of the distances of operation horizontal table top far-end;

B: gauge.Domesticly be generally 1.435 meters;

X: barycenter is apart from 3.5 meters of rail levels;

α: orbit plane and horizontal plane angle are left low for just

β: platform is with respect to the corner of car body, turns left for just

G：130000N

G1：10000N

Mw: safe moment threshold values 25000Nm

1, car is stopped at level attitude (α=0 °), in the situation of platform distal-most end load-carrying 300kg, and platform β=0 ° that mediates:

$\begin{array}{c}{M}_L=\sqrt{X^2+{\left(\frac{B}{2}\right)}^2}\&CenterDot;\cos (\arctan \left(\frac{2\&CenterDot;X}{B}\right)+\mathrm{\&alpha;})\&CenterDot;G\\ +(\frac{B}{2}-\frac{P}{2}\&CenterDot;\sin \mathrm{\&beta;}-H\&CenterDot;\tan \mathrm{\&alpha;})/\cos \mathrm{\&alpha;}\&CenterDot;G1\\ +\underset{i=1}{\overset{4}{\mathrm{\&Sigma;}}}(\frac{B}{2}-R_i\&CenterDot;\sin \mathrm{\&beta;}-H\&CenterDot;\tan \mathrm{\&alpha;})/\cos \mathrm{\&alpha;}\&CenterDot;V_i\\ =93275+7175+2153=102603\mathrm{Nm}>>\mathrm{Mw}\end{array}$

Now platform is rotated, when platform goes to the leftmost side, and during β=90 °,

M _l=93275-15325-9848=68103Nm > > Mw, due to car body full symmetric, M _r=68103Nm > > Mw, so during α=0 °, platform can rotation arbitrarily in gamut.

2, car is stopped at gradient position (α=5 °), in the situation of platform distal-most end load-carrying 300kg: when platform does not rotate, β=0 °

$\begin{array}{c}{M}_L=\sqrt{X^2+{\left(\frac{B}{2}\right)}^2}\&CenterDot;\cos (\arctan \left(\frac{2\&CenterDot;X}{B}\right)+\mathrm{\&alpha;})\&CenterDot;G+\\ (\frac{B}{2}-\frac{P}{2}\&CenterDot;\sin \mathrm{\&beta;}-H\&CenterDot;\tan \mathrm{\&alpha;})/\cos \mathrm{\&alpha;}\&CenterDot;G1+\underset{i=1}{\overset{4}{\mathrm{\&Sigma;}}}(\frac{B}{2}-R_i\&CenterDot;\sin \mathrm{\&beta;}-H\&CenterDot;\tan \mathrm{\&alpha;})/\cos \mathrm{\&alpha;}\&CenterDot;V_i\end{array}$

=53264+3075+922=57261Nm > > Mw, thus rotation now can be continued, when β=68.68 °, M _l=Mw.So when gradient position alpha=5 °, during platform far-end load-carrying 300kg, platform is 68.68 ° to the maximum angle of anticlockwise.During dextrorotation to 90 °, M _r> 68103Nm > > Mw, so that dextrorotation can be rotated is arbitrarily angled.

3, platform β=0 o'clock that mediates, car is during by gradient position (α=8.52 °), M _l=Mw, so this section parking prohibition now.

Claims (4)

1. a track operation car safety monitoring device, is characterized in that, described track operation car comprises the rotation platform on car body and car body; It is right that vehicle bottom is provided with 2 groups of wheels; Described track operation car safety monitoring device comprises central process unit, an angular transducer and n LOAD CELLS, and n is more than or equal to 2 integer; Angular transducer is all connected with central process unit with a plurality of LOAD CELLS;

Described angular transducer is arranged on the right side of wheel, and for detection of the angle α of orbit plane and horizontal surface, n LOAD CELLS is installed on rotation platform; The axle center of n LOAD CELLS and rotation platform is straight line, and n LOAD CELLS to the distance of centre of gration be respectively R1, R2 ..., Rn;

Described central process unit calculates car body, rotation platform and load-carrying to taking turns the moment to producing for real-time, and implements to judge according to this moment whether the track operation car in current attitude exists the risk of toppling;

Described moment is the resultant couple M that revolver is subject to _lwith the right resultant couple M being subject to that takes turns _r:

(1) the resultant couple M that revolver is subject to _lcomputing formula be:

M _L＝M _L1+M _L2+M _L3；

Wherein, M _l1for the moment of car body to revolver;

M _l2for the moment of rotation platform to revolver;

M _l3for the some moment to revolver of respectively weighing on rotation platform, the i.e. moment of load-carrying on rotation platform to revolver;

$M_{L1}=\sqrt{X^2+{\left(\frac{B}{2}\right)}^2}\&CenterDot;\cos (\arctan \left(\frac{2\&CenterDot;X}{B}\right)+\mathrm{\&alpha;})\&CenterDot;G;$

Wherein, the barycenter that X is car body is to the distance of orbit plane;

B is gauge;

G is car body gravity;

$M_{L2}=(\frac{B}{2}-\frac{P}{2}\&CenterDot;\sin \mathrm{\&beta;}-H\&CenterDot;\tan \mathrm{\&alpha;})/\cos \mathrm{\&alpha;}\&CenterDot;G1;$

Wherein, P is that rotation platform rotating shaft is to the distance of operation horizontal table top far-end;

H is Operation Van's height;

G1 is rotation platform gravity;

β is that rotation platform is with respect to the corner of car body;

$M_{L3}=\underset{i=1}{\overset{n}{\mathrm{\&Sigma;}}}(\frac{B}{2}-R_i\&CenterDot;\sin \mathrm{\&beta;}-H\&CenterDot;\tan \mathrm{\&alpha;})/\cos \&CenterDot;V_i;$

V _ibe the numerical value of weighing of i LOAD CELLS, i=1,2 ..., n;

(2) the right resultant couple M being subject to that takes turns _rcomputing formula be:

M _R＝M _R1+M _R2+M _R3

Wherein, M _r1for car body is to right moment of taking turns;

M _r2for rotation platform is to right moment of taking turns;

M _r3for respectively weighing a little to right moment of taking turns on rotation platform, i.e. load-carrying is to right moment of taking turns;

Have

$M_{R1}=[B\&CenterDot;\cos \mathrm{\&alpha;}-\sqrt{X^2+{\left(\frac{B}{2}\right)}^2}\&CenterDot;\cos (\arctan \left(\frac{2\&CenterDot;X}{B}\right)+\mathrm{\&alpha;})]\&CenterDot;G;$

$M_{R2}=(\frac{B}{2}+\frac{P}{2}\&CenterDot;\sin \mathrm{\&beta;}+H\&CenterDot;\tan \mathrm{\&alpha;})/\cos \mathrm{\&alpha;}\&CenterDot;G1;$

$M_{R3}=\underset{i=1}{\overset{n}{\mathrm{\&Sigma;}}}(\frac{B}{2}+R_i\&CenterDot;\sin \mathrm{\&beta;}+H\&CenterDot;\tan \mathrm{\&alpha;})/\cos \&CenterDot;V_i;$

Note parking warning moment values is Mw; If M _l>=Mw or M _r>=Mw, forbids that track operation car stops at this place; If M _l<Mw and M _r<Mw, shows that track operation car is safe when in current pose.

2. track operation car safety monitoring device according to claim 1, is characterized in that, LOAD CELLS is 4.

3. track operation car safety monitoring device according to claim 1, is characterized in that, also comprises the annunciator being connected with central process unit.

4. the method for safety monitoring of the track operation car safety monitoring device based on described in claim 1-2 any one, it is characterized in that, adopt angular transducer to measure in real time the angle α of orbit plane and horizontal surface, and Real-time Obtaining platform is with respect to the corner β of car body and the numerical value V that weighs of n LOAD CELLS ₁～V _n; Then calculate in real time the resultant couple M that revolver is subject to _lwith the right resultant couple M being subject to that takes turns _r:

(1) the resultant couple M that revolver is subject to _lcomputing formula be:

M _L＝M _L1+M _L2+M _L3；

Wherein, M _l1for the moment of car body to revolver;

M _l2for the moment of rotation platform to revolver;

M _l3for the some moment to revolver of respectively weighing on rotation platform, the i.e. moment of load-carrying to revolver;

$M_{L1}=\sqrt{X^2+{\left(\frac{B}{2}\right)}^2}\&CenterDot;\cos (\arctan \left(\frac{2\&CenterDot;X}{B}\right)+\mathrm{\&alpha;})\&CenterDot;G;$

Wherein, the barycenter that X is car body is to the distance of orbit plane;

B is gauge;

G is car body gravity;

$M_{L2}=(\frac{B}{2}-\frac{P}{2}\&CenterDot;\sin \mathrm{\&beta;}-H\&CenterDot;\tan \mathrm{\&alpha;})/\cos \mathrm{\&alpha;}\&CenterDot;G1;$

Wherein, P is that rotation platform rotating shaft is to the distance of operation horizontal table top far-end;

H is Operation Van's height;

G1 is rotation platform gravity;

β is that rotation platform is with respect to the corner of car body;

$M_{L3}=\underset{i=1}{\overset{n}{\mathrm{\&Sigma;}}}(\frac{B}{2}-R_i\&CenterDot;\sin \mathrm{\&beta;}-H\&CenterDot;\tan \mathrm{\&alpha;})/\cos \&CenterDot;V_i;$

V _ibe the numerical value of weighing of i LOAD CELLS, i=1,2 ..., n;

(2) the right resultant couple M being subject to that takes turns _rcomputing formula be:

M _R＝M _R1+M _R2+M _R3

Wherein, M _r1for car body is to right moment of taking turns;

M _r2for rotation platform is to right moment of taking turns;

M _r3for respectively weighing a little to right moment of taking turns on rotation platform, i.e. load-carrying is to right moment of taking turns;

Have

$M_{R1}=[B\&CenterDot;\cos \mathrm{\&alpha;}-\sqrt{X^2+{\left(\frac{B}{2}\right)}^2}\&CenterDot;\cos (\arctan \left(\frac{2\&CenterDot;X}{B}\right)+\mathrm{\&alpha;})]\&CenterDot;G;$

$M_{R2}=(\frac{B}{2}+\frac{P}{2}\&CenterDot;\sin \mathrm{\&beta;}+H\&CenterDot;\tan \mathrm{\&alpha;})/\cos \mathrm{\&alpha;}\&CenterDot;G1;$

$M_{R3}=\underset{i=1}{\overset{n}{\mathrm{\&Sigma;}}}(\frac{B}{2}+R_i\&CenterDot;\sin \mathrm{\&beta;}+H\&CenterDot;\tan \mathrm{\&alpha;})/\cos \&CenterDot;V_i;$

Note parking warning moment values is Mw;

Judgment mode is: if M _l>=Mw or M _r>=Mw, forbids that track operation car stops at this place, and provides warning; If M _l<Mw or M _r<Mw, shows that track operation car is safe when in current pose.