CN107600198A - A kind of modified container tire crane automates mid-air-bus - Google Patents
A kind of modified container tire crane automates mid-air-bus Download PDFInfo
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- CN107600198A CN107600198A CN201610557413.9A CN201610557413A CN107600198A CN 107600198 A CN107600198 A CN 107600198A CN 201610557413 A CN201610557413 A CN 201610557413A CN 107600198 A CN107600198 A CN 107600198A
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- bus
- crane
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- air
- laser scanner
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Abstract
A kind of modified container tire crane automation mid-air-bus is that electric panel room is changed into compartment on the basis of tyre crane, and the container of handling is changed into Mobile lifting elevator.Respectively one laser scanner of installation and a camera, laser scanner detection front obstacle realize walking anticollision on four door legs, and ground lane line is identified camera.Before and after bus below compartment platform, respectively one laser scanner of installation and a camera, laser scanner is detected in real time to track front and back height of car, while carries out correction judgement to detection montant, and correction control is carried out to tyre crane jointly with view data.Cantilever is installed on tyre crane, automatic telescopic handling Mobile lifting elevator, completes station and the operation of getting on or off the bus of passenger in compartment.By above equipment can provide it is a kind of automate unmanned bus, realize that self-navigation travels, automatic collision correction positioning is pulled in and on-board and off-board automatically, suitable for various roads, meets urban transportation needs.
Description
Technical field
The present invention relates to the vehicles, and be particularly suitable for use in public bus communications and transportation.
Background technology
At present, being on the increase with urban development and road vehicle, urban transportation is gradually crowded, traditional public transport
Instrument is also difficult to the travel requirement for meeting people.Utility model (notification number CN201419704Y)《Wide-body elevated car》There is provided one
Kind novel traffic vehicle, but need to lay track and cable, different region or city can not be applied to, and this vehicle does not relate to
And automation drives.
The content of the invention
Former tyre crane is made up of parts such as driving wheel, trolley frame, suspender and electrical controls, is generally used for harbour packaging
Case handling.The present invention to former tyre crane by being improved, using the teaching of the invention it is possible to provide one kind automates unmanned bus, is applicable to each
Kind road, and other vehicles travelings on road are not influenceed, meet urban transportation needs.
The present invention uses following technical scheme：Tyre crane, cantilever, laser scanner, camera, GPS, PLC, control system
System, CAS of walking, alignment system, detect montant, lane line, pressure column, electric control box, Mobile lifting elevator, letter
Signal lamp and warning device.
Described bus, is improved by tyre crane, including tyre crane vehicle body, tire, suspender and electric control system.On
Layer electric panel room is changed to compartment, and compartment is used for carrying, full sightseeing platform design, on four sides without driver's cabin；Lower floor is used for road vehicle row
Sail, more automobiles can be accommodated simultaneously and passed through, setting can be highly actually needed according to road vehicle.Container is changed to move under suspender
Formula elevator, transported for on-board and off-board.Described bus is travelled by tire on the drive wheels, directionless disk, utilizes transducer drive
Tire speed speed, bus can be achieved and turn to.Described bus travels along road lane line, suitable for various road environment.
Described tyre crane bus walking, respectively installs 1 laser scanner and 1 on four door leg front-wheel supports of tyre crane
Individual camera, laser scanner are Multi Slice Mode instrument, carry out multi-dimensional scanning to the people in front of travel direction and thing and anticollision measures.
The scanning plane of described laser scanner is with ground intersection perpendicular to track direction of advance.Four scanning slices are simultaneously to running track
It is scanned ranging.4th layer of scanning plane horizontal sweep, to detect the barrier in a distant place on track；Other one, two, three layer scanning
It is scanned towards ground, detection range is divided near region, middle area, far field.If third layer scanning plane detects that there is barrier in far field,
System signal an alert, driver and pedestrian on track or car is reminded to pay attention to being avoided；If second layer scanning plane detects
There is barrier in middle area, and system automatically controls bus and travelled at a slow speed, until barrier disappearance resume speed；If first layer scans
Face detects that there is barrier near region, and system automatically controls bus and stopped immediately, realizes anticollision.Meanwhile described laser scanning
Instrument institute both sides track is scanned, and detection early warning is carried out to lane-change track.Mono-layer level scanner can also be used in the scanner.
Camera on door leg is monitored to outrunner and thing, while the position of lane line on road is known
Not, the data of identification are analyzed and calculated by controller, carry out walk anticollision and correction control.There is track mark by lane line
Lane markings are identified for note, camera, and calculating analysis is carried out by tyre crane encoder, and tyre crane is realized and positioned.Taking turns
Tire, which is hung, respectively installs a laser scanner at the top of two sides, both sides track is scanned, prevents vehicle collision.
Meanwhile below compartment platform, a laser scanner and a camera are respectively being installed, positioned at track before and after bus
Two tracks are scanned in surface simultaneously, and track front and back height of car is detected in real time.When detecting within the specific limits
Overheight Vehicles, alarm and reminding front vehicles driver is sent immediately and is avoided；If Overheight Vehicles are closer to the distance, system automatically controls
Bus, which slows down, alarms or stops.Meanwhile laser scanner carries out detection and localization to light pole or par as detection montant, with
Contrasted on the basis of straight line where detection montant with vehicle heading, the data of detection carry out driving correction control to controller
System, control tire is exchanged with view data and lifts up into capable correction.
Described bus tyre crane walking, a row signal lamp of laser scanner one is respectively installed in tyre crane lateral inner,
Prevent the internal collision by vehicle.Laser scanner is scanned ranging to vehicle on track, and the data of measurement are transferred to
Controller, controller control the signal lamp of side, and signal lamp has multiple color, are distinguished with different colours and pass through vehicle and tyre crane
Distance, remind vehicle traveling.
Cantilever is installed, cantilever outer end is equipped with laser scanner, swept below cantilever on described bus tyre crane
Retouch.Suspender is connected with Mobile lifting elevator on cantilever, and the automatic handling to Mobile lifting elevator can be achieved.Mobile lifting
Elevator is responsible for the passenger that delivery needs to get on or off the bus, and Mobile lifting elevator is furnished with automatically-controlled door, the automatic switch under system control.Together
When upper deck compartment automatically-controlled door is installed, can be docked with Mobile lifting elevator.Ground is set every a segment distance
Have a bus platform, each platform and bus lane distance, system according to platform and bus apart from automatic telescopic cantilever, by movement
Formula elevator is hoisted in platform.
Described bus operationally, retract, and Mobile lifting elevator docks with compartment, it is necessary to which the passenger to get off enters by cantilever
Enter Mobile lifting elevator and wait to pull in and get off, remaining passenger is then stayed in compartment；Bus self-navigation is travelled to platform and stopped,
Automatic door is closed, and Mobile lifting elevator is hoisted in platform by system according to platform apart from telescopic cantilever, suspender, and car door is beaten
To open, treat that passenger getting on/off finishes, closing of the door, Mobile lifting elevator rises, cantilever retraction, elevator and compartment automatic butt,
Complete on-board and off-board.
Described bus is battery powered, and AT STATION provided with automatic charging station, pulling in every time, it is automatic quick to be carried out when stopping
Charging.
Described tyre crane bus, each tire speed is changed by frequency converter in driving, 0- can be realized to tyre crane
30 ° of auto-steerings.In parking, tyre crane is jacked up by pressure column, tire turns to 90 ° and directly walked.
Described bus is provided with GPS, and it is definitely fixed that described bus is realized jointly by the encoder of GPS and tyre crane
Position.
Described bus does not have driver's cabin in front of direction of traffic, and the automatic running of bus is to pass through laser scanner measurement
Data and the data of camera head monitor automatically controlled, have front and rear console in electric panel room, control bus moves ahead,
Retreat and stop.
Described bus, equipped with a set of wheel load detecting system, prevent the few gas of tire.
Described bus, when tyre crane is walked, all signals transmit to backstage Central Control Room and carry out remote monitoring and tune
Degree management, remote automation operation can be achieved.
Due to using above-mentioned technical proposal, the beneficial effects of the invention are as follows：There is provided a kind of tyre crane improved automation fortune
It row bus, can realize that self-navigation travels, automatic collision correction positioning, pull in automatically and on-board and off-board, suitable for various cities
Road, alleviate traffic pressure.
Brief description of the drawings
Accompanying drawing 1 automates mid-air-bus main structure figure
Accompanying drawing 2 automates mid-air-bus overlooking structure figure
The tyre crane structure chart of accompanying drawing 3
Wherein, (1) bus, (2) laser scanner, (3) laser scanner, (4) laser scanner, (5) laser scanner,
(6) camera, (7) camera, (8) compartment, (9) cantilever, (10) suspender, (11) Mobile lifting elevator, (12) car door,
(13) elevator door, (14) laser scanner, (15) lane line, (16) track, (17) pavement, (18) platform, (19) electric-controlled
Room processed, (20) tire, (21) electric panel room, (22) container.
Embodiment
As illustrated, described bus (1) is formed by tyre crane (20) transformation, upper strata electric panel room (21) is changed to compartment (8)
With electric control room (19), compartment (8) are used for carrying, full sightseeing platform design, on four sides without driver's cabin；Lower floor is used for road vehicle
Traveling, width can accommodate two automobiles simultaneously, setting can be highly actually needed according to road vehicle.Container (22) changes under suspender
For Mobile lifting elevator (11), transported for on-board and off-board.
1 laser scanner (2) and 1 camera (6) are respectively installed on (1) four door leg front-wheel support of tyre crane, swashed
Photoscanner (2) is Multi Slice Mode instrument, carries out multi-dimensional scanning to the people in front of travel direction and thing and anticollision measures.According to obstacle
The distance of thing and bus, automatically control bus and slow down or stop.Camera (6) on door leg is supervised to outrunner and thing
Control, while the position of lane line on road (15) is identified, the data of identification are analyzed and calculated by controller, are carried out
Walking anticollision and correction control.One laser scanner (4) is respectively installed at the top of tyre crane (1) two sides, both sides track is entered
Row scanning, prevents vehicle collision.
Below compartment platform, a laser scanner (3) and a camera (7) are respectively being installed, positioned at car before and after bus
Two tracks (16) are scanned directly over road (16) center simultaneously, track front and back height of car is detected in real time.When one
Determine to detect Overheight Vehicles in scope, send alarm and reminding front vehicles driver immediately and avoided；If Overheight Vehicles distance compared with
Closely, system automatically controls bus deceleration alarm or parking.Laser scanner (3) carries out positioning inspection to light pole as detection montant
Survey, contrasted on the basis of detecting straight line where montant with vehicle heading, the data of detection are driven a vehicle to controller
Correction control, control tire is exchanged with view data and lifts up into capable correction.
One laser scanner (14) and a row signal lamp are respectively installed in tyre crane (1) lateral inner, prevent inside from passing through
The collision of vehicle.Laser scanner is scanned ranging to vehicle on track (16), and the data of measurement are transferred into controller, control
The signal lamp of device processed control side, signal lamp have multiple color, with different colours distinguish by vehicle and tyre crane (1) away from
From prompting vehicle traveling.
Cantilever (9) is installed, cantilever (9) outer end is equipped with laser scanner (5), under cantilever (9) on bus tyre crane (1)
Side is scanned.Suspender (10) is connected with Mobile lifting elevator (11) on cantilever (9), can be achieved to Mobile lifting elevator
(11) automatic handling.Mobile lifting elevator (11) is responsible for the passenger that delivery needs to get on or off the bus, Mobile lifting elevator (11)
Equipped with automatic lift door (13), the automatic switch under system control.The compartment of upper deck is provided with automatic car door simultaneously
(12), can be docked with Mobile lifting elevator (11).Ground is provided with bus platform (18), each platform every a segment distance
(18) with bus lane distance, system according to platform (18) and bus apart from automatic telescopic cantilever (9), by Mobile lifting
Elevator (11) is hoisted in platform (18).
Described bus operationally, cantilever (9) retract, Mobile lifting elevator (11) docked with compartment (8), it is necessary under
The passenger of car is waited pulling in and got off into Mobile lifting elevator (11), and remaining passenger is then stayed in compartment (8)；Bus is led automatically
Navigation, which is sailed to platform (18), is stopped, and automatic door is closed, and system will apart from telescopic cantilever (9), suspender (10) according to platform (18)
Mobile lifting elevator (11) is hoisted in platform (18), car door opening, treats that passenger getting on/off finishes, closing of the door, portable
Elevator (11) rises, cantilever (9) retraction, elevator and compartment (8) automatic butt, completes on-board and off-board.
Claims (8)
1. a kind of modified container tire crane automation mid-air-bus, including tyre crane, cantilever, laser scanner, camera,
GPS, PLC, control system, CAS of walking, alignment system, detect montant, lane line, lane markings, pressure column, electric-controlled
Case processed, Mobile lifting elevator, signal lamp and warning device, it is characterised in that：
A. described automation mid-air-bus is improved by tyre crane, and the electric panel room on upper strata is changed to compartment, and full sightseeing platform is set
Meter, on four sides without driver's cabin；Lower floor travels for road vehicle, can accommodate more automobiles simultaneously and pass through, highly can be according to terrain vehicle
It is actually needed setting；Container is changed to Mobile lifting elevator under suspender, is transported for on-board and off-board；Cantilever can be as needed
Movable type upgrading elevator is extended and retracted；
B. described automation mid-air-bus, 1 laser scanner and 1 are respectively installed on four door leg front-wheel supports of tyre crane
Camera, multi-dimensional scanning is carried out to the people in front of travel direction and thing and anticollision measures, walking CAS is according to the scanning
The obstacle distance that instrument detects is slowed down or stopped to bus；Described camera carries out correction control to Lane detection
System, identification lane markings carry out tyre crane positioning by encoder calculating；Each installation one swashs at the top of tyre crane two sides
Photoscanner, both sides track is scanned, prevents vehicle collision；In respectively one laser scanning of installation of tyre crane inner side
Instrument, prevent inside from passing through vehicle collision；
C. described automation mid-air-bus, below compartment platform, a laser scanner and one are respectively being installed before and after bus
Camera, scan two tracks simultaneously directly over track, track front and back height of car is detected in real time, if finding
Overheight Vehicles, alarm is sent immediately；Meanwhile described laser scanner carries out correction detection to detection montant.
2. modified container tire crane as claimed in claim 1 automates mid-air-bus, it is characterised in that：In tyre crane side
Respectively one row signal lamp of laser scanner one of installation, the vehicle distances that signal lamp detects according to scanner send different face inside face
Color.
3. modified container tire crane as claimed in claim 1 automates mid-air-bus, it is characterised in that：Cantilever outer end fills
There is laser scanner, be scanned below cantilever；Ground is provided with bus platform every a segment distance, system according to platform with bar
Mobile lifting elevator is hoisted in platform by scholar apart from automatic telescopic cantilever；Mobile lifting elevator and compartment are provided with automatic
Door, walked about after can docking for the passenger that gets on or off the bus, complete passenger traffic.
4. modified container tire crane as claimed in claim 1 automates mid-air-bus, it is characterised in that：Described bus
GPS is installed to be positioned, GPS and encoder calculate and realize absolute fix to tyre crane jointly.
5. modified container tire crane as claimed in claim 1 automates mid-air-bus, it is characterised in that：Described bus
It is battery powered, AT STATION provided with automatic charging station, pulls in carry out automatic rapid charging when stopping every time.
6. modified container tire crane as claimed in claim 1 automates mid-air-bus, it is characterised in that：Described tire
Bus is hung, each tire speed is changed by frequency converter in driving, 0-30 ° of auto-steering can be realized to tyre crane.Stop
When, tyre crane is jacked up by pressure column, tire turns to 90 ° and directly walked.
7. modified container tire crane as claimed in claim 1 automates mid-air-bus, it is characterised in that：Described bar
Scholar, equipped with a set of wheel load detecting system, prevent the few gas of tire.
8. modified container tire crane as claimed in claim 1 automates mid-air-bus, it is characterised in that：Described bar
Scholar, when tyre crane is walked, all signals transmit to backstage Central Control Room and carry out remote monitoring and management and running, can be achieved long-range
Automation mechanized operation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610557413.9A CN107600198A (en) | 2016-07-11 | 2016-07-11 | A kind of modified container tire crane automates mid-air-bus |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610557413.9A CN107600198A (en) | 2016-07-11 | 2016-07-11 | A kind of modified container tire crane automates mid-air-bus |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107600198A true CN107600198A (en) | 2018-01-19 |
Family
ID=61055231
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610557413.9A Pending CN107600198A (en) | 2016-07-11 | 2016-07-11 | A kind of modified container tire crane automates mid-air-bus |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107600198A (en) |
-
2016
- 2016-07-11 CN CN201610557413.9A patent/CN107600198A/en active Pending
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Legal Events
| Date | Code | Title | Description |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20180119 |
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| WD01 | Invention patent application deemed withdrawn after publication |