CN103993571B - A kind of track pavement cleaning suction port accurately keeps away barrier coordinated control system - Google Patents
A kind of track pavement cleaning suction port accurately keeps away barrier coordinated control system Download PDFInfo
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- CN103993571B CN103993571B CN201410246518.3A CN201410246518A CN103993571B CN 103993571 B CN103993571 B CN 103993571B CN 201410246518 A CN201410246518 A CN 201410246518A CN 103993571 B CN103993571 B CN 103993571B
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- suction port
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- personal computer
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- driven pulley
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- 230000004888 barrier function Effects 0.000 title claims abstract description 11
- 238000004140 cleaning Methods 0.000 title claims abstract description 6
- 230000001105 regulatory effect Effects 0.000 claims abstract description 7
- 238000000034 method Methods 0.000 abstract description 4
- 230000008901 benefit Effects 0.000 abstract description 2
- 230000000694 effects Effects 0.000 abstract description 2
- 238000009434 installation Methods 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 5
- 230000003137 locomotive effect Effects 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000008859 change Effects 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 230000004807 localization Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
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Abstract
The present invention relates to a kind of coordinated control system, particularly a kind of track pavement cleaning suction port accurately keeps away barrier coordinated control system <b>.</b> is characterized in that: vehicle body is connected with support, support there is driven pulley, driven pulley is connected with the driving wheel on wheel by chain, regulating wheel is connected with chain, the below of vehicle body is fixed with laser instrument, camera, AC servo motor, the top of vehicle body is fixed with Industrial Personal Computer (IPC), servo-driver, Industrial Personal Computer (IPC) is connected with display, AC servo motor is connected with screw mandrel, screw mandrel is connected with nut seat, nut seat is connected with suction port, and driven pulley is connected with encoder.The self-editing program met the demands is embedded in Industrial Personal Computer (IPC).Owing to adopting technique scheme, the advantage that the present invention has and good effect are: Installation and Debugging are convenient, and accuracy of judgement is reliable, practical.
Description
Technical field
The present invention relates to a kind of control system, particularly a kind of track pavement cleaning suction port accurately keeps away barrier coordinated control system.
Background technology:
At present, system for keeping away barrier mainly contains: laser infrared radar imaging technology is by the information such as 3-D view, Distance geometry speed of laser scans display-object, carry out target localization and identification, shortcoming be to laser instrument and scanning means requirement high, image quality is poor, speed is slow, and complex structure, the shortcoming that bulky and cost is high.Supersonic sounding technology adopts ultrasonic sensor as distance measuring sensor, may be used for indoor mobile robot, dolly etc. and keep away barrier, being applicable to range accuracy is not the situation very tight, measuring distance is shorter, but the change etc. be easy to by the angle of incidence of environment temperature, air-flow, ultrasonic beam and target object affects, and resolution ratio is poor.
Summary of the invention:
Technical problem to be solved by this invention is: provide a kind of track pavement cleaning suction port accurately to keep away barrier coordinated control system, energy Accurate Measurement obstruction orientation, linkage accurately controls when suction port arrives obstruction can accurate raised position, has target identification, finds range, tests the speed and the function such as intelligent barrier avoiding.
The technical solution adopted for the present invention to solve the technical problems is: the present invention is by driven pulley, regulating wheel, laser instrument, Industrial Personal Computer (IPC), display, camera, servo-driver, AC servo motor, suction port, vehicle body, nut seat, screw mandrel, wheel, driving wheel, chain, support and encoder composition, it is characterized in that: vehicle body is connected with support, support there is driven pulley, driven pulley is connected with the driving wheel on wheel by chain, regulating wheel is connected with chain, the below of vehicle body is fixed with laser instrument, camera, AC servo motor, the top of vehicle body is fixed with Industrial Personal Computer (IPC), servo-driver, Industrial Personal Computer (IPC) is connected with display, AC servo motor is connected with screw mandrel, screw mandrel is connected with nut seat, nut seat is connected with suction port, driven pulley is connected with encoder.The self-editing program met the demands is embedded in Industrial Personal Computer (IPC).
Owing to adopting technique scheme, the advantage that the present invention has and good effect are: Installation and Debugging are convenient, and accuracy of judgement is reliable, practical.
Accompanying drawing illustrates:
Below in conjunction with drawings and Examples, the invention will be further described.
Fig. 1 is structural representation of the present invention.
Fig. 2 is encoder holder part structural representation.
Fig. 3 is suction port part linkage structure schematic diagram.
Fig. 4 is that coordinated control system runs schematic diagram.
Fig. 5 is the Industrial Personal Computer (IPC) program operational process block diagram of Fig. 4.
Fig. 6 is intelligence control system human-computer interaction interface figure of the present invention.
1. driven pulleys, 2. regulating wheel, 3. laser instrument, 4. Industrial Personal Computer (IPC), 5. display, 6. camera, 7. servo-driver, 8. AC servo motor, 9. suction port, 10. vehicle body in figure, 11. nut seats, 12. screw mandrels,
13. wheels, 14. driving wheels, 15. chains, 16. supports, 17. encoders.
Detailed description of the invention:
In FIG, vehicle body 10 is connected with support 16, support 16 has driven pulley 1, driven pulley 1 is connected with the driving wheel 14 on wheel 13 by chain 15, and regulating wheel 2 is connected with chain 15, the below of vehicle body 10 is fixed with laser instrument 3, camera 6, AC servo motor 8, the top of vehicle body 10 is fixed with Industrial Personal Computer (IPC) 4, servo-driver 7, and Industrial Personal Computer (IPC) 4 is connected with display 5, and AC servo motor 8 is connected with screw mandrel 12, screw mandrel 12 is connected with nut seat 11, and nut seat 11 is connected with suction port 9.
In fig. 2, vehicle body 10 is connected with support 16, support 16 has driven pulley 1, and driven pulley 1 is connected with encoder 17.
In figure 3, screw mandrel 12 is connected with nut seat 11, and nut seat 11 is connected with suction port 9.Rail in the middle of suction port 9.
In the diagram, Industrial Personal Computer (IPC) is connected with data collecting card, encoder, motion control card respectively, and data collecting card is connected with camera, and motion control card is connected with servo-drive system, and servo-drive system is connected with screw mandrel.
Fig. 5 is that the program of Industrial Personal Computer (IPC) runs block diagram.
Operating principle of the present invention is as follows, the laser that laser instrument 3 is launched, be irradiated on the track in locomotive front, camera 6 gathers image, image procossing is carried out in image transmitting to Industrial Personal Computer (IPC) 4, when there being obstruction to exist, image is after the process of Industrial Personal Computer (IPC) 4 program, calculate the elevation information of obstruction, and Obstacle Position is to the distance of camera 6, and send control signal, encoder 17 on driven pulley 1 exports counting pulse signal, counting pulse signal is through data collecting card, be transferred to Industrial Personal Computer (IPC) 4, program process in Industrial Personal Computer (IPC) 4 calculates locomotive running speed V, and calculate the lifting time of suction port 9, raised position and hoisting depth, be converted into the counting number that wheel 13 needs the number of turns or the encoder 17 turned over, therefore, after camera 6 detects obstacle information, before suction port 9 arrives obstruction, no matter whether locomotive stops in running, the speed of service speeds or slows down, keeping away barrier coordinated control system program all can after wheel 13 turns over the corresponding number of turns or encoder 17 number, accurately send and control suction port promotion signal to AC servo motor 8, AC servo motor drives leading screw 12 to rotate, suction port 9 is made to increase with correct height in correct time, to reach the object of keeping away barrier in time.
Claims (1)
1. track pavement cleaning suction port accurately keeps away a barrier coordinated control system, by driven pulley, regulating wheel, laser instrument, Industrial Personal Computer (IPC), display, camera, servo-driver, AC servo motor, suction port, vehicle body, nut seat, screw mandrel, wheel, driving wheel, chain, support and encoder composition, it is characterized in that: vehicle body (10) is connected with support (16), support (16) there is driven pulley (1), driven pulley (1) is connected with the driving wheel (14) on wheel (13) by chain (15), regulating wheel (2) is connected with chain (15), and the below of vehicle body (10) is fixed with laser instrument (3), camera (6), AC servo motor (8), the top of vehicle body (10) is fixed with Industrial Personal Computer (IPC) (4), servo-driver (7), Industrial Personal Computer (IPC) (4) is connected with display (5), and AC servo motor (8) is connected with screw mandrel (12), and screw mandrel (12) is connected with nut seat (11), nut seat (11) is connected with suction port (9), and driven pulley (1) is connected with encoder (17).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410246518.3A CN103993571B (en) | 2014-06-05 | 2014-06-05 | A kind of track pavement cleaning suction port accurately keeps away barrier coordinated control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410246518.3A CN103993571B (en) | 2014-06-05 | 2014-06-05 | A kind of track pavement cleaning suction port accurately keeps away barrier coordinated control system |
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| Publication Number | Publication Date |
|---|---|
| CN103993571A CN103993571A (en) | 2014-08-20 |
| CN103993571B true CN103993571B (en) | 2016-04-27 |
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| CN201410246518.3A Expired - Fee Related CN103993571B (en) | 2014-06-05 | 2014-06-05 | A kind of track pavement cleaning suction port accurately keeps away barrier coordinated control system |
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105544440A (en) * | 2016-01-25 | 2016-05-04 | 上海市金山区青少年活动中心 | Automatic road sweeping trolley with distance measurement function |
| CN106759056B (en) * | 2016-11-30 | 2018-10-26 | 湖北工业大学 | A kind of track of ultrahigh speed rail cars real-time cleaning system and cleaning method online |
| CN114277720B (en) * | 2021-11-23 | 2023-07-04 | 江苏徐工工程机械研究院有限公司 | Lifting device for collecting bulk materials of railway ballast bed |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2667334A1 (en) * | 1990-10-02 | 1992-04-03 | Secmair Sa | Suction (vacuum) device for roadworks, for sweeping and suction of waste |
| CN101851903A (en) * | 2010-05-24 | 2010-10-06 | 上海神舟汽车设计开发有限公司 | Edge dust collection port automatic avoiding device for motor sweeper |
| CN201738275U (en) * | 2010-08-04 | 2011-02-09 | 李景龙 | Automatic dedusting motor sweeper for spinning trench |
| CN102124866B (en) * | 2011-01-19 | 2013-05-29 | 南京农业大学 | Wheel type mobile fruit picking robot and fruit picking method |
| CN203213050U (en) * | 2013-04-03 | 2013-09-25 | 西安电子科技大学 | Intelligent road cleaning device |
| CN103343519B (en) * | 2013-07-11 | 2015-11-04 | 山东理工大学 | A kind of novel intelligent clean robot and control method thereof |
| CN103334398B (en) * | 2013-07-25 | 2016-01-13 | 武汉优力汽车技术发展有限公司 | There is the road-sweeper of floated nozzle unit |
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Address after: 224051 Jiangsu province Yancheng City Nanyang Economic Zone Environmental Protection Industrial Park, five road Patentee after: STATE POWER INVESTMENT CORPORATION YUANDA ENVIRONMENTAL PROTECTION EQUIPMENT MANUFACTURING CO.,LTD. Address before: 224051 Jiangsu province Yancheng City Nanyang Economic Zone Environmental Protection Industrial Park, five road Patentee before: JIANGSU ZIGUANG JIDIDA ENVIRONMENTAL TECHNOLOGY CO.,LTD. |
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| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160427 |