CN103308905B - A kind of ballast screen scarifier collision avoidance system and method - Google Patents
A kind of ballast screen scarifier collision avoidance system and method Download PDFInfo
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- CN103308905B CN103308905B CN201310223541.6A CN201310223541A CN103308905B CN 103308905 B CN103308905 B CN 103308905B CN 201310223541 A CN201310223541 A CN 201310223541A CN 103308905 B CN103308905 B CN 103308905B
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Abstract
The present invention relates to automatic measurement and warning technology field, particularly relate to a kind of ballast screen scarifier collision avoidance system and method.Comprise ultrasound wave and launch main frame, ultrasonic transmission device, be arranged on transmission jib bottom rotation portion; Central information processor, is arranged in ultrasound wave main frame, carries out computing to each component information; Avoiding obstacles by supersonic wave range finding receiver, avoiding obstacles by supersonic wave range finding receiver is the locating device of barrier, is arranged on vertical barrier; Keep away barrier message handler, the data on transmitting avoiding obstacles by supersonic wave range finding receiver are to central information processor.This device and method utilizes ultrasound wave emission function and high frequency characteristics, by hyperacoustic transmitting and receiving separately, establishes ultrasound wave correlation structure, overcomes the problem that the measurement that causes because not stopping to have rubble to fall is inaccurate; Two ultrasonic probe, ultrasonic receivers have been installed, one be used for range finding one be used for calibration, further improve measuring accuracy.
Description
Technical field
The present invention relates to automatic measurement and warning technology field, particularly relate to a kind of ballast screen scarifier collision avoidance system and method.
Background technology
Ballast screening machine is the equipment that a kind of ballast aggregate to railway ballast section or both sides side slope carries out cleaning, it is in cleaning process, the ballast aggregate backfill that can will clean after cleaning, and the dirt soil after cleaning is unloaded on circuit both sides or dirty navy barrow by the conveying belt throwing on rotary conveyer structure, simultaneously, for increasing dirty native projectile range, the rotatable certain angle of rotary conveyer structure, makes rotary conveyer structure in the turning radius, carry out throwing and unloads.
Ballast screen scarifier plays important effect at building railway in servicing operations, extensively popularizing with railway electrification, ballast screen scarifier is in operation process, because the blind spot at operator visual angle exists, need manually under Operation Van, to guide operation, prevent from transmitting the vertical barrier, particularly electric pole that jib collides railway edge.
Conventional collision-proof method adopts the methods such as laser ranging, radar reflection range finding, touching switch to realize.Herein, traditional laser ranging, the methods such as radar reflection range finding, because transmission jib operationally ceaselessly transmits rubble, by cause the reflective distance of laser ranging or radar range finding be jib lower sensor mounting points to face place, rubble whereabouts, cause measuring inaccurate, have a strong impact on and keep away barrier effect.
Summary of the invention
(1) technical matters that will solve
The technical matters that the present invention mainly solves is: overcome the problem that the measurement that causes because not stopping to have rubble to fall in the distance-finding method such as laser ranging and radar reflection range finding is inaccurate.
(2) technical scheme
In order to solve the problems of the technologies described above, the invention provides a kind of ballast screen scarifier collision avoidance system, it comprises ultrasound wave and launches main frame, ultrasonic transmission device, is arranged on transmission jib bottom rotation portion; Central information processor, is arranged in ultrasound wave main frame, carries out computing to each component information; Avoiding obstacles by supersonic wave range finding receiver, avoiding obstacles by supersonic wave range finding receiver is the locating device of barrier, is arranged on vertical barrier; Keep away barrier message handler, the data on transmitting avoiding obstacles by supersonic wave range finding receiver are to central information processor.
Transmission jib also has ultrasound wave calibration range receiver, has calibration information processor in described ultrasound wave calibration range receiver, the data on transmitting ultrasound wave calibration range receiver are to central information processor.
Wherein, ultrasound wave transmitting main frame probe is fixed with the spacing that ultrasound wave calibration range receiver is popped one's head in.
Wherein, ultrasound wave launches main frame probe axle center and the ultrasound wave calibration range receiver axle center of popping one's head on the same line.
Wherein, to launch main frame probe and the avoiding obstacles by supersonic wave level height that receiver pops one's head in of finding range consistent for ultrasound wave.
Ultrasound wave is launched on main frame, ultrasound wave calibration range receiver and avoiding obstacles by supersonic wave range finding receiver has radio-cell, for the information transmission between each unit.
It is as follows that this device realizes crashproof method step:
1) central information processor sends and starts ultrasonic ranging signaling;
2) ultrasound wave launches main frame transmission ultrasonic signal;
3) calibration information processor hinder message handler and starts working with keeping away, and measures ultrasound wave transmitting duration t and t ＇ respectively, and it is transferred to central information processor;
4) central information processor hinders data that message handler transmits according to calibration information processor and calculates ultrasound wave and launch main frame transmitting probe and to find range receiver receiving transducer distance d to avoiding obstacles by supersonic wave with keeping away;
5) contrast echo ripple launches main frame transmitting probe to avoiding obstacles by supersonic wave range finding receiver receiving transducer distance d and transmission jib to the risk distance D of vertical barrier, as d>D, and screen scarifier job safety, on the contrary then screen scarifier operation is dangerous;
6) when screen scarifier job safety, central information processor repeats above-mentioned steps; When being in dangerous operation scope, central information processor carries out sound and light alarm, and by relay outputting alarm signal.
(3) beneficial effect
Technique scheme of the present invention has the following advantages: utilize ultrasound wave emission function and high frequency characteristics, by hyperacoustic transmitting and receiving separately, establishes ultrasound wave correlation structure, overcomes the problem that the measurement that causes because not stopping to have rubble to fall is inaccurate; Two ultrasonic probe, ultrasonic receivers have been installed, one be used for range finding one be used for calibration, further improve measuring accuracy.
Accompanying drawing explanation
Fig. 1 is using state reference diagram of the present invention.
In figure, 1: screen scarifier; 2: central information processor; 3: ultrasound wave launches main frame; 4: ultrasound wave calibration range receiver; 5: calibration information processor; 6: transmission jib; 7: avoiding obstacles by supersonic wave range finding receiver; 8: keep away barrier message handler; 9: vertical barrier.
Embodiment
Below in conjunction with drawings and Examples, the specific embodiment of the present invention is described in further detail.Following examples for illustration of the present invention, but are not used for limiting the scope of the invention.
As shown in drawings, the present invention includes ultrasound wave and launch main frame, ultrasonic transmission device, be arranged on transmission jib bottom rotation portion; Central information processor, is arranged in ultrasound wave main frame, carries out computing to each component information; Avoiding obstacles by supersonic wave range finding receiver, avoiding obstacles by supersonic wave range finding receiver is the locating device of barrier, is arranged on vertical barrier; Keep away barrier message handler, the data on transmitting avoiding obstacles by supersonic wave range finding receiver are to central information processor.
Ultrasound wave launches rotary joint junction below transmission jib that main frame is arranged on car body, rotate with the rotation of jib, ultrasound wave is launched main frame and is sent ultrasound wave, is sent the startup signaling of ultrasound wave transmission by central information processor simultaneously, receives the range data that ultrasonic receiver returns.
Wherein, transmission jib also has ultrasound wave calibration range receiver, has calibration information processor in described ultrasound wave calibration range receiver, the data on transmitting ultrasound wave calibration range receiver are to central information processor.
Wherein, the probe that ultrasound wave correction range finding receiver and ultrasound wave launch main frame is on same straight line, and distance is fixed value, namely ultrasound wave is launched main frame and ultrasound wave and is corrected and find range that receiver position is between the two relative to immobilize, can be 1 meter and also can be 2 meters, but just no longer change after determining.
Ultrasound wave launches main frame by receiving the range data of ultrasound wave calibration range receiver, completes the compensation of the influence factor such as temperature, extraneous wind speed to precision of ultrasonic ranging, improves range finding accuracy.
Velocity of wave when same sound wave is propagated in different medium and wavelength can change.The change of the environmental factors such as extraneous temperature and wind speed, can cause the density even change of composition of air, thus different with during initial setting, therefore can have influence on hyperacoustic velocity of wave different with wavelength from velocity of wave when originally setting at first with wavelength.Some errors will be produced like this.
Ultrasound wave calibration range receiver utilizes this principle to carry out value revision to this device exactly.
The distance that ultrasound wave calibration range receiver and ultrasound wave are launched between main frame is fixed value, so in the course of the work, even if the extraneous bad border such as temperature, wind speed changes, the distance that ultrasound wave calibration range receiver and ultrasound wave are launched between main frame does not also change.Therefore, the ultrasound wave launch and accept time calculates instant velocity of wave and wavelength to the Distance geometry that this device make use of between the two between the two, draw and setting at first time velocity of wave and the ratio of wavelength, namely now required modified value.
Ultrasound wave launches main frame after the range data receiving ultrasonic ranging Receiving Host, by correcting parameter, after obtaining actual range data, and comparison barrier risk distance data, pilot relay outputting alarm signal.
Wherein, ultrasound wave transmitting main frame includes inclination angle detection sensor, for detecting the angle of inclination of rotary transfer jib.
We only know the length A of transmission jib, wonder that it protrudingly how many also will to be calculated by the elevation angle β transmitting jib.Can be shown that by cosine formula the extension elongation D of transmission jib is D=A × cos β.
Wherein, avoiding obstacles by supersonic wave range finding receiver, is arranged on vertical barrier, and it is consistent that probe positions and ultrasound wave launch the level height that main frame pops one's head in.
Avoiding obstacles by supersonic wave range finding receiver probe launches main frame probe positions level with ultrasound wave, the inclination angle detection sensor can launched in main frame by ultrasound wave like this measures the elevation angle of transmission jib, thus judges the outwardly directed distance of transmission jib more accurately.
Calibration range of the present invention with keep away that hindering finds range carries out simultaneously, but calibration range completes faster.Calibration range completes guarantee and keeps away carrying out smoothly of barrier range finding before keeping away barrier range finding.
The principle of work of calibration range is:
Central information processor sends calibration range and starts signaling, starts ultrasound wave simultaneously and sends.Calibration information processor in ultrasound wave calibration range receiver receive start range finding signaling after, start range-viewfinder time, ultrasound wave calibration range receiver when receiving ultrasonic signal, stop range-viewfinder time.Subsequently, chronometric data is transmitted to the central information processor in ultrasound wave transmitting main frame.
Central information processor in ultrasound wave transmitting main frame, after receiving chronometric data, according to following formula, obtains ultrasonic velocity calibration equation: v=(L-a)/t.
In formula, L is that ultrasound wave is launched main frame and to be popped one's head in the distance of ultrasound wave calibration range receiver probe, and a is the inherent error caused due to wireless radio transmission time delay of system testing; T is the time of ultrasound wave calibration range transmission.
Ultrasound wave calibration range receiver completes the calibration of current ultrasonic transmission speed, and calibration algorithm implementation procedure is as follows:
1) central information processor sends and starts ultrasonic ranging signaling;
2) ultrasound wave launches main frame transmission ultrasonic signal;
3), after calibration information processor receives and starts ultrasonic ranging signaling, ultrasonic ranging timer is started;
4), after ultrasonic receiver receives ultrasonic signal, calibration information processor stops ultrasonic ranging timing, and acquisition ranging time is t;
5) the ultrasonic ranging error caused according to wireless time delay is known distance a, ultrasound wave transmitting main frame transmitting probe is known distance L to the distance of ultrasound wave calibration range receiver receiving transducer, then can obtain calibration transmission speed v:v=(the L-a)/t of current ultrasonic.
The principle of work of keeping away barrier range finding is:
Central information processor sends keeps away barrier range finding startup signaling, starts ultrasound wave simultaneously and sends.Keeping away in avoiding obstacles by supersonic wave range finding receiver hinders message handler after receiving startup range finding signaling, when starting range-viewfinder, avoiding obstacles by supersonic wave finds range receiver when receiving ultrasonic signal, when keeping away barrier message handler stopping range-viewfinder, afterwards, chronometric data is transmitted to central information processor.
Ultrasound wave launches main frame after receiving chronometric data, according to following formula, obtains avoiding obstacles by supersonic wave range finding distance d:d=v × t'+a.
In formula, v is the ultrasonic transmission speed after calibration, and a is the inherent error caused due to wireless radio transmission time delay of system testing; T' is the time of avoiding obstacles by supersonic wave ranging transmission.
Ultrasound wave launches the inclination angle value β that main frame gathers current transmission jib simultaneously, according to following formula, obtains risk distance value D:D=A × cos β.
In formula, A is transmission jib length, and β is the pitch angle of current transmission jib.
Contrast echo ripple keeps away barrier range finding distance d and risk distance D, if d>D, screen scarifier is in safe operation range, otherwise screen scarifier is in dangerous operation scope.
When being in dangerous operation scope, central information processor carries out sound and light alarm, and by relay outputting alarm signal.
Avoiding obstacles by supersonic wave range finding receiver obstacle avoidance algorithm realization flow is as follows:
1) central information processor sends and starts ultrasonic ranging signaling;
2) ultrasound wave launches main frame transmission ultrasonic signal;
3) keep away after barrier message handler receives and start ultrasonic ranging signaling, start ultrasonic ranging timer;
4), after ultrasonic receiver receives ultrasonic signal, keep away barrier message handler and stop ultrasonic ranging timing, acquisition ranging time is t';
5) the ultrasonic ranging error caused according to wireless time delay is known distance a, and current ultrasonic transmission speed is v, then launch main frame transmitting probe to avoiding obstacles by supersonic wave range finding receiver receiving transducer distance d:d=v × t'+a for ultrasound wave;
6) the transmission jib angle of inclination detected according to the obliquity sensor in ultrasound wave transmitting main frame is β, and known transmission jib length A, obtains the risk distance D of transmission jib to vertical barrier, D=A × cos β;
7) contrast echo ripple launches main frame transmitting probe to avoiding obstacles by supersonic wave range finding receiver receiving transducer distance d and transmission jib to the risk distance D of vertical barrier, as d>D, and screen scarifier job safety, on the contrary then screen scarifier operation is dangerous.
From the above mentioned, can show that this device realizes crashproof method step and is:
1) central information processor sends and starts ultrasonic ranging signaling;
2) ultrasound wave launches main frame transmission ultrasonic signal;
3) calibration information processor hinder message handler and starts working with keeping away, and measures ultrasound wave transmitting duration t and t ＇ respectively, and it is transferred to central information processor;
4) central information processor hinders data that message handler transmits according to calibration information processor and calculates ultrasound wave and launch main frame transmitting probe and to find range receiver receiving transducer distance d to avoiding obstacles by supersonic wave with keeping away;
5) contrast echo ripple launches main frame transmitting probe to avoiding obstacles by supersonic wave range finding receiver receiving transducer distance d and transmission jib to the risk distance D of vertical barrier, as d>D, and screen scarifier job safety, on the contrary then screen scarifier operation is dangerous;
6) when screen scarifier job safety, central information processor repeats above-mentioned steps; When being in dangerous operation scope, central information processor carries out sound and light alarm, and by relay outputting alarm signal.
When screen scarifier works, by the vertical barrier (as electric pole etc.) of process when first ultrasonic ranging receiver being arranged on its work, wait on the barrier of screen scarifier through disassembling the front that is arranged on its work again later and will passing through.
During screen scarifier work, the speed of advancing slowly, so the efficiency of the work do not affected like this, is that it is convenient to bring in a lot of work on the contrary.This device utilizes ultrasound wave emission function and high frequency characteristics, establish ultrasound wave correlation structure, and ultrasound wave calibration range receiver has been installed, thus overcome the inaccurate problem of the measurement that causes because not stopping to have rubble to fall, solve touching switch distance measuring method middle distance and cross the problem of closely and easily colliding.
The above is only the preferred embodiment of the present invention; it should be pointed out that for those skilled in the art, under the prerequisite not departing from the technology of the present invention principle; can also make some improvement and modification, these improve and modification also should be considered as protection scope of the present invention.
Claims (7)
1. a ballast screen scarifier collision avoidance system, is characterized in that, comprises ultrasound wave and launches main frame, and described ultrasound wave is launched main frame and is arranged on transmission jib bottom rotation portion; Central information processor, is arranged in ultrasound wave main frame, carries out computing to each component information; Avoiding obstacles by supersonic wave range finding receiver, avoiding obstacles by supersonic wave range finding receiver is the locating device of barrier, is arranged on vertical barrier; Keep away barrier message handler, the data on transmitting avoiding obstacles by supersonic wave range finding receiver are to central information processor; Transmission jib also has ultrasound wave calibration range receiver, has calibration information processor in described ultrasound wave calibration range receiver, the data on transmitting ultrasound wave calibration range receiver are to central information processor.
2. ballast screen scarifier collision avoidance system according to claim 1, is characterized in that, described ultrasound wave is launched main frame probe and fixed with the spacing that ultrasound wave calibration range receiver is popped one's head in.
3. ballast screen scarifier collision avoidance system according to claim 2, is characterized in that, the axle center that described ultrasound wave transmitting main frame probe axle center and ultrasound wave calibration range receiver are popped one's head on the same line.
4. ballast screen scarifier collision avoidance system according to claim 3, is characterized in that, described ultrasound wave transmitting main frame is provided with inclination angle detection sensor.
5. ballast screen scarifier collision avoidance system according to claim 4, is characterized in that, it is consistent that described ultrasound wave launches main frame probe and the avoiding obstacles by supersonic wave level height that receiver pops one's head in of finding range.
6. ballast screen scarifier collision avoidance system according to claim 5, it is characterized in that, described ultrasound wave is launched on main frame, described ultrasound wave calibration range receiver and described avoiding obstacles by supersonic wave range finding receiver has radio-cell, for the information transmission between each unit.
7. ballast screen scarifier collision avoidance system according to claim 1, is characterized in that, it is as follows that described ballast screen scarifier collision avoidance system realizes crashproof method step:
1) central information processor sends and starts ultrasonic ranging signaling;
2) ultrasound wave launches main frame transmission ultrasonic signal;
3) calibration information processor hinder message handler and starts working with keeping away, and measures ultrasound wave transmitting duration t and t ＇ respectively, and it is transferred to central information processor;
4) central information processor hinders data that message handler transmits according to calibration information processor and calculates ultrasound wave and launch main frame transmitting probe and to find range receiver receiving transducer distance d to avoiding obstacles by supersonic wave with keeping away;
5) contrast echo ripple launches main frame transmitting probe to avoiding obstacles by supersonic wave range finding receiver receiving transducer distance d and transmission jib to the risk distance D of vertical barrier, as d>D, and screen scarifier job safety, on the contrary then screen scarifier operation is dangerous;
6) when screen scarifier job safety, central information processor repeats above-mentioned steps; When being in dangerous operation scope, central information processor carries out sound and light alarm, and by relay outputting alarm signal.
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| CN201310223541.6A CN103308905B (en) | 2013-06-06 | 2013-06-06 | A kind of ballast screen scarifier collision avoidance system and method |
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| CN201310223541.6A CN103308905B (en) | 2013-06-06 | 2013-06-06 | A kind of ballast screen scarifier collision avoidance system and method |
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| CN103308905B true CN103308905B (en) | 2015-12-23 |
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| CN110749888A (en) * | 2019-12-20 | 2020-02-04 | 广州赛特智能科技有限公司 | Distance measurement method based on ultrasonic distance measurement system |
| CN115980759B (en) * | 2023-03-17 | 2023-05-16 | 武汉理工大学三亚科教创新园 | Ultrasonic ranging device and ranging method for ocean engineering construction |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US4556112A (en) * | 1982-12-29 | 1985-12-03 | Franz Plasser Bahn-Baumaschinen-Industriegesellschaft M.B.H. | Mobile conveyor arrangement |
| CN201545000U (en) * | 2009-10-27 | 2010-08-11 | 武汉铁路局武汉客运专线基础设施维修基地 | Anti-collision alarming device for track screen cleaning vehicle |
| CN101870295A (en) * | 2010-06-24 | 2010-10-27 | 武汉理工大学 | Derailing detector for large road maintenance vehicle |
| CN202703632U (en) * | 2012-05-21 | 2013-01-30 | 株洲时代电子技术有限公司 | Railway maintenance operation safety pre-warning system |
| CN202969175U (en) * | 2012-06-26 | 2013-06-05 | 长沙鸿汉电子有限公司 | Obstacle avoidance control device for conveyer belt of railway screen scarifier |
-
2013
- 2013-06-06 CN CN201310223541.6A patent/CN103308905B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4556112A (en) * | 1982-12-29 | 1985-12-03 | Franz Plasser Bahn-Baumaschinen-Industriegesellschaft M.B.H. | Mobile conveyor arrangement |
| CN201545000U (en) * | 2009-10-27 | 2010-08-11 | 武汉铁路局武汉客运专线基础设施维修基地 | Anti-collision alarming device for track screen cleaning vehicle |
| CN101870295A (en) * | 2010-06-24 | 2010-10-27 | 武汉理工大学 | Derailing detector for large road maintenance vehicle |
| CN202703632U (en) * | 2012-05-21 | 2013-01-30 | 株洲时代电子技术有限公司 | Railway maintenance operation safety pre-warning system |
| CN202969175U (en) * | 2012-06-26 | 2013-06-05 | 长沙鸿汉电子有限公司 | Obstacle avoidance control device for conveyer belt of railway screen scarifier |
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