CN109794068A - One kind being based on Beidou/GPS time slot ultrasonic distance measurement orbitron slideway vehicle collision avoidance system - Google Patents
One kind being based on Beidou/GPS time slot ultrasonic distance measurement orbitron slideway vehicle collision avoidance system Download PDFInfo
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- CN109794068A CN109794068A CN201910166242.0A CN201910166242A CN109794068A CN 109794068 A CN109794068 A CN 109794068A CN 201910166242 A CN201910166242 A CN 201910166242A CN 109794068 A CN109794068 A CN 109794068A
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- avoidance system
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Abstract
The invention discloses one kind to be based on Beidou/GPS time slot ultrasonic distance measurement orbitron slideway vehicle collision avoidance system, it is characterized in that, the system comprises collision avoidance system controllers and the ultrasonic receiver connecting with collision avoidance system controller, control panel, velocity sensor, electric brake, ultrasonic transmitter, power conversion module, module when brushless motor controller and satellite school, wherein, the external brushless motor of brushless motor controller, the external 48V battery pack of power conversion module, 48V battery pack is connect with track 48V power supply and brushless motor respectively, the system is placed on orbitron slideway vehicle, and ultrasonic receiver is located at the front of orbitron slideway vehicle, ultrasonic transmitter is located at the rear portion of orbitron slideway vehicle.This system cost is low, practicability is good, can accurately detect that slideway is gone forward the distance and speed of rear car, is avoided collision the generation of event, can be improved the operation benefits of orbitron slideway vehicle.
Description
Technical field
The present invention relates to ultrasonic distance measurement anticollision control fields, especially a kind of to be based on Beidou/GPS time slot ultrasound
Away from orbitron slideway vehicle collision avoidance system.
Background technique
Current orbitron slideway vehicle is powered by track brush, is driven using brushless motor, has the function such as climbing, turning
Can, the speed of service is generally 12km/h, and vehicle operating modes can only be manually operated, it is difficult to ensure that the safe distance with front and back vehicle,
For example it is used for the pipe rail sightseeing slide track vehicle at scenic spot, often there is the event of collision, leads to injury to personnel, vehicle damage, make
At injury to personnel, dispute is difficult to handle, and tourist experience is had a greatly reduced quality, and vehicle damage, and maintenance cost is high, influences efficiency of operation
Etc. problems.
Summary of the invention
In view of the deficiencies of the prior art, it is an object of the present invention to provide one kind to be based on Beidou/GPS time slot ultrasonic distance measurement
Orbitron slideway vehicle collision avoidance system.This system cost is low, practicability is good, can accurately detect that slideway is gone forward the distance of rear car
And speed, the generation of event is avoided collision, the operation benefits of orbitron slideway vehicle can be improved.
Realizing the technical solution of the object of the invention is:
One kind being based on Beidou/GPS time slot ultrasonic distance measurement orbitron slideway vehicle collision avoidance system, and points unlike the prior art exist
In the system comprises collision avoidance system controllers and the ultrasonic receiver connecting with collision avoidance system controller, control plane
Mould when plate, velocity sensor, electric brake, ultrasonic transmitter, power conversion module, brushless motor controller and satellite school
Block, wherein the external brushless motor of brushless motor controller, the external 48V battery pack of power conversion module, 48V battery component
It is not connect with track 48V power supply and brushless motor, the system is placed on orbitron slideway vehicle, and ultrasonic receiver is located at
The front of orbitron slideway vehicle, ultrasonic transmitter are located at the rear portion of orbitron slideway vehicle.
The collision avoidance system controller is central control processor, including CPU and control unit, using being internally embedded formula
Software intelligence carries out ultrasonic wave transmitting to whole system, ultrasonic wave receives, distance calculates and control, in satellite time reference and interior
Under the collective effect of portion's clock, according to the aerial transmission speed of ultrasonic wave and time difference, calculate with front truck it is accurate away from
From progress anticollision logical operation, control vehicle accelerates, slows down, brake function, guarantees safe spacing, realizes anticollision
Function.
The ultrasonic receiver is ultrasound signal receipt device, realizes ultrasonic signal detection, and will test result
It is transmitted to collision avoidance system controller, is calculated at a distance from front truck by collision avoidance system controller.
The control panel is man-machine interface, is equipped with manual, automatic, stopping and four key switches of bad vehicle, realizes to pipe
The control function of rail slide track vehicle.
The velocity sensor is used for the velocity measuring of orbitron slideway vehicle, which is converted to the rotation speed of wheel
Electric signal, and collision avoidance system controller is reported and submitted, it calculates the speed of vehicle in real time by collision avoidance system controller, is added to anti-
In clash logic, reach the security control to orbitron slideway vehicle.
The electric brake is brake apparatus, it can be achieved that orbitron slideway vehicle brake function.
Module proofreads benchmark for real-time clock when the satellite school, in conjunction with the internal clocking of collision avoidance system controller,
The clock reference source for generating Millisecond is the necessary condition of ultrasonic distance measurement.
The ultrasonic transmitter is ultrasonic signal emitter, 10 ultrasonic signals of transmission per second, each signal
Send the ultrasonic signal of 8 38kH.
The power supply of track and battery pack is converted to low-voltage by the power conversion module, be collision avoidance system controller,
Ultrasonic wave transmitting and reception, velocity sensor etc. provide power supply.
The brushless motor controller is power drive unit, and brushless motor controller drives brushless motor, is slide track vehicle
Generate driving force.
The brushless motor provides electric energy by brushless motor controller, and brushless motor converts electrical energy into mechanical energy.
The 48V battery pack fits track 48V power supply provides control and driving power for orbitron slideway vehicle, can also keep away
Exempt from track 48V power-supply fluctuation and stabilization is played in of short duration disconnection, stable power supply is provided for system, reduces failure rate.
Each orbitron slideway vehicle is fitted with collision avoidance system, sequentially runs on orbitron slideway, each pipe rail
Formula slide track vehicle all real-time reception satellite datas are calibrated, and inside forms the clock source of Millisecond, guarantee each pipe rail
Slide track vehicle time data having the same.Ultrasonic transmitter is mounted on the tail portion of orbitron slideway vehicle, ultrasonic receiver peace
Mounted in the front of orbitron slideway vehicle, the ultrasonic transmitter in orbitron slideway tailstock portion sends ultrasonic signal to rear car, after
Vehicle receives the ultrasonic signal that front truck issues, and collision avoidance system controller receives the ultrasonic signal of front truck, passes through the time difference
The accurate distance with front truck is calculated, is controlled by operating status of the anticollision logic to vehicle, guarantees safe distance between vehicles.
System work process in the technical program are as follows:
Controlled using based on Beidou/GPS time slot ultrasonic measuring distance technology and multistage speed, classification set distance control range and
Speed control range, first order speed control range are > 10km/h, and first order command range is 10-15m；Second step velocity control
Range processed is 6-10km/h, and second level command range is 5-10m；Third level speed control range is 0-6km/h, third level control
Distance is 0-5m, when work, is powered and is run by orbitron slideway vehicle by operation panel, and power conversion module is by track 48V electricity
Source and 48V battery pack electricity are converted to 12V DC electricity, are anti-collision controller, ultrasonic transmitter, ultrasonic receiver, speed
Sensor, brushless motor controller power supply, ultrasonic receiver receive the ultrasonic signal that front truck issues, calculate and front truck
Distance, velocity sensor detect slide track vehicle travel speed automatically, the anti-collision controller cutting electricity if detection front 15m is interior without vehicle
The power supply of son brake, while speed-up command is issued to brushless motor controller, brushless motor controller connects driving power, pipe rail
Formula slide track vehicle can be with 100% power high-ball；In first order distance controlling range (10-15 meters) if interior detected vehicle, sentence
Whether break at first order speed control range (> 10km/h), if speed is greater than 10km/h, collision avoidance system controller is to brushless
Electric machine controller issues deceleration command, and brushless motor controller disconnects power motor power supply, and slide track vehicle is slided by inertia holding；If
Speed is less than 10km/h, then collision avoidance system controller issues limitation instruction to brushless motor controller, orbitron slideway vehicle limit
It is made as the power of highest 50%；The distance controlling range (5-10 meters) in the second level judges whether if interior detected vehicle second
Step velocity control range (> 6km/h), if speed is greater than 6km/h, collision avoidance system controller is issued to brushless motor controller
Brake command, brushless motor controller disconnect brushless motor power supply, connect electric brake power supply and are braked；If speed is less than
6km/h, then collision avoidance system controller issues limitation instruction to brushless motor controller, and orbitron slideway vehicle is limited to highest
30% power；In third level distance controlling range (0-5 meters) if interior detected vehicle, ignore the speed of orbitron slideway vehicle, prevents
Avoidance system controller issues brake command to brushless motor controller, and brushless motor controller disconnects brushless motor power supply, connects
The sub- power brake source that is powered is braked, until orbitron slideway vehicle is out of service.
The technical program can be there are two types of operational mode: automatic running and manually traveling, and can replace at any time as needed,
Automatic running mode is automated system operation, controls orbitron slideway vehicle at a distance from front truck and speed；Traveling is tourist manually
Voluntarily Driving control slide track vehicle is at a distance from front truck and speed, but distance and speed are once more than the safe number of default
Value, system can also execute the instruction of deceleration, brake automatically, and the enjoyment that tourist had both enjoyed driving in turn ensures safety.
The benchmark that ultrasonic wave is done using the time of satellite navigation system, in conjunction with the operational mode of pipe rail sightseeing slide track vehicle,
Ultrasonic transmitter and receiver are located at two different slide track vehicles, can reduce the technology of ultrasound examination long range at
This.
Power supply is provided to anti-collision controller, ultrasonic transmitter-receiver, velocity sensor using power conversion module, allows pipe rail
Formula slide track vehicle stabilization, reliability service；Unique safe distance detection is controlled by distance signal in conjunction with speed signal by multistage
System, executes different control commands, achievees the purpose that deceleration, acceleration, parking, keeps orbitron slideway vehicle always with safe speed
Traveling and safe distance corresponding with front truck holding ensure that the safe operation of orbitron slideway vehicle, reduce orbitron slideway vehicle
The damage and failure of vehicle body overcome since collision causes injury to personnel, slide track vehicle relevant device and facility damage, maintenance capacity big
Etc. number of drawbacks, be a kind of safe and reliable, easy to operate orbitron slideway vehicle collision avoidance system.
This system cost is low, practicability is good, can accurately detect that slideway is gone forward the distance and speed of rear car, is avoided collision
The generation of event can improve the operation benefits of orbitron slideway vehicle.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of embodiment；
Fig. 2 is the workflow schematic diagram of system in embodiment.
Specific embodiment
The content of present invention is further elaborated with reference to the accompanying drawings and examples, but is not limitation of the invention.
Embodiment:
Referring to Fig.1, a kind of to be based on Beidou/GPS time slot ultrasonic distance measurement orbitron slideway vehicle collision avoidance system, the system packet
Include collision avoidance system controller and the ultrasonic receiver being connect with collision avoidance system controller, control panel, velocity sensor,
Module when electric brake, ultrasonic transmitter, power conversion module, brushless motor controller and satellite school, wherein described brushless
The external brushless motor of electric machine controller, the external 48V battery pack of power conversion module, 48V battery pack respectively with track 48V power supply and
Before brushless motor connection, the system are placed on orbitron slideway vehicle, and ultrasonic receiver is located at orbitron slideway vehicle
Portion, ultrasonic transmitter are located at the rear portion of orbitron slideway vehicle.
The collision avoidance system controller is central control processor, including CPU and control unit, using being internally embedded formula
Software intelligence carries out ultrasonic wave transmitting to whole system, ultrasonic wave receives, distance calculates and control, in satellite time reference and interior
Under the collective effect of portion's clock, according to the aerial transmission speed of ultrasonic wave and time difference, calculate with front truck it is accurate away from
From progress anticollision logical operation, control vehicle accelerates, slows down, brake function, guarantees safe spacing, realizes anticollision
Function, this example select model ATmega128L, major parameter are as follows: 64 pin TQFP encapsulation, advanced RISC structure, it is more
Number instruction can be completed within a clock cycle；32 8 general purpose working registers of x+peripheral hardware controls register；It works in
16 MHz, when performance be up to 16 MIPS.
The ultrasonic receiver is ultrasound signal receipt device, realizes ultrasonic signal detection, and will test result
It is transmitted to collision avoidance system controller, is calculated at a distance from front truck by collision avoidance system controller, this example ultrasonic receiver
Select model are as follows: TCT40-12R/R, major parameter: 1. nominal frequencies (KHz): 40KHz；2. acoustic pressure in transmission at10V(0dB=
0.02mPa): >=117dB；3. receiving sensitivity at40KHz (0dB=V/ubar): >=-65dB), 10 ultrasounds of realization per second
Wave signal detection.
The control panel is man-machine interface, is equipped with manual, automatic, stopping and four key switches of bad vehicle, realizes to pipe
The control function of rail slide track vehicle.
The velocity sensor is used for the velocity measuring of orbitron slideway vehicle, which is converted to the rotation speed of wheel
Electric signal, and collision avoidance system controller is reported and submitted to calculate the speed of vehicle in real time by collision avoidance system controller, it is added to anti-
In clash logic, reach the security control to orbitron slideway vehicle, this example velocity sensor is CMSG-020.
The electric brake is brake apparatus, it can be achieved that orbitron slideway vehicle brake function, this example electric brake are FDB-
1-015, major parameter: static friction torque 15Nm, dynamic friction torque 10Nm.
Module proofreads benchmark for real-time clock when the satellite school, in conjunction with the internal clocking of collision avoidance system controller,
The clock reference source for generating Millisecond is the necessary condition of ultrasonic distance measurement, and module is VK16U6 when this example satellite school, main to join
Number: UART/TTL, 232 level；Using KDS 0.5PPM high-precision TCXO；Built-in RTC crystal and pf capacitance value are faster
Thermal starting.
The ultrasonic transmitter is ultrasonic signal emitter, 10 ultrasonic signals of transmission per second, each signal
The ultrasonic signal of 8 38kH is sent, this example ultrasonic transmitter is TCT40-12R/R, major parameter: 1. nominal frequencies
(KHz): 40KHz；2. acoustic pressure in transmission at10V(0dB=0.02mPa): >=117dB；3. receiving sensitivity at40KHz (0dB=V/
Ubar): >=-65dB).
The power supply of track and battery pack is converted to low-voltage by the power conversion module, be collision avoidance system controller,
Ultrasonic wave transmitting and reception, velocity sensor etc. provide power supply.
The brushless motor controller is power drive unit, and brushless motor controller drives brushless motor, is slide track vehicle
Driving force is generated, this example brushless motor controller is the brushless motor controller of 48V800W protective current 25A.
The brushless motor provides electric energy by brushless motor controller, and brushless motor converts electrical energy into mechanical energy, this example
Brushless motor is 48V500W electric current 12.5A, the brushless motor of reduction ratio 6:1.
The 48V battery pack fits track 48V power supply provides control and driving power for orbitron slideway vehicle, can also keep away
Exempt from track 48V power-supply fluctuation and stabilization is played in of short duration disconnection, stable power supply is provided for system, reduces failure rate, this
Example battery pack is 6-DZM-12, the battery pack of 12V12Ah.
In this example, each orbitron slideway vehicle is fitted with collision avoidance system, sequentially runs on orbitron slideway, each
Orbitron slideway vehicle all real-time reception satellite datas are calibrated, and inside forms the clock source of Millisecond, guarantee each pipe
The slide track vehicle of rail time data having the same.Ultrasonic transmitter is mounted on the tail portion of orbitron slideway vehicle, and ultrasonic wave connects
The front that device is mounted on orbitron slideway vehicle is received, the ultrasonic transmitter in orbitron slideway tailstock portion sends ultrasonic wave letter to rear car
Number, rear car receives the ultrasonic signal that front truck issues, and collision avoidance system controller receives the ultrasonic signal of front truck, when passing through
Between difference calculate accurate distance with front truck, controlled by operating status of the anticollision logic to vehicle, guarantee accident-free vehicle
Away from.
System work process in the technical program as shown in Fig. 2, are as follows:
Controlled using based on Beidou/GPS time slot ultrasonic measuring distance technology and multistage speed, classification set distance control range and
Speed control range, first order speed control range are > 10km/h, and first order command range is 10-15m；Second step velocity control
Range processed is 6-10km/h, and second level command range is 5-10m；Third level speed control range is 0-6km/h, third level control
Distance is 0-5m, when work, is powered and is run by orbitron slideway vehicle by operation panel, and power conversion module is by track 48V electricity
Source and 48V battery pack electricity are converted to 12V DC electricity, are anti-collision controller, ultrasonic transmitter, ultrasonic receiver, speed
Sensor, brushless motor controller power supply, ultrasonic receiver receive the ultrasonic signal that front truck issues, calculate and front truck
Distance, velocity sensor detect slide track vehicle travel speed automatically, the anti-collision controller cutting electricity if detection front 15m is interior without vehicle
The power supply of son brake, while speed-up command is issued to brushless motor controller, brushless motor controller connects driving power, pipe rail
Formula slide track vehicle can be with 100% power high-ball；In first order distance controlling range (10-15 meters) if interior detected vehicle, sentence
Whether break at first order speed control range (> 10km/h), if speed is greater than 10km/h, collision avoidance system controller is to brushless
Electric machine controller issues deceleration command, and brushless motor controller disconnects power motor power supply, and slide track vehicle is slided by inertia holding；If
Speed is less than 10km/h, then collision avoidance system controller issues limitation instruction to brushless motor controller, orbitron slideway vehicle limit
It is made as the power of highest 50%；The distance controlling range (5-10 meters) in the second level judges whether if interior detected vehicle second
Step velocity control range (> 6km/h), if speed is greater than 6km/h, collision avoidance system controller is issued to brushless motor controller
Brake command, brushless motor controller disconnect brushless motor power supply, connect electric brake power supply and are braked；If speed is less than
6km/h, then collision avoidance system controller issues limitation instruction to brushless motor controller, and orbitron slideway vehicle is limited to highest
30% power；In third level distance controlling range (0-5 meters) if interior detected vehicle, ignore the speed of orbitron slideway vehicle, prevents
Avoidance system controller issues brake command to brushless motor controller, and brushless motor controller disconnects brushless motor power supply, connects
The sub- power brake source that is powered is braked, until orbitron slideway vehicle is out of service.
There are two types of operational modes in this example: automatic running and manually traveling, and can replace at any time as needed, automatic running
Mode is automated system operation, controls orbitron slideway vehicle at a distance from front truck and speed；Traveling is that tourist voluntarily drives manually
Slide track vehicle is controlled at a distance from front truck and speed, but distance and speed are once more than the security value (s) of default, system
The instruction of deceleration, brake can be executed automatically, and the enjoyment that tourist had both enjoyed driving in turn ensures safety.
Claims (1)
1. one kind is based on Beidou/GPS time slot ultrasonic distance measurement orbitron slideway vehicle collision avoidance system, which is characterized in that described
System includes collision avoidance system controller and the ultrasonic receiver connecting with collision avoidance system controller, control panel, speed
Module when sensor, electric brake, ultrasonic transmitter, power conversion module, brushless motor controller and satellite school, wherein
The external brushless motor of brushless motor controller, the external 48V battery pack of power conversion module, 48V battery pack respectively with track
48V power supply is connected with brushless motor, and the system is placed on orbitron slideway vehicle, and ultrasonic receiver is located at pipe rail and slides
The front of road vehicle, ultrasonic transmitter are located at the rear portion of orbitron slideway vehicle.
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| CN201910166242.0A CN109794068A (en) | 2019-03-06 | 2019-03-06 | One kind being based on Beidou/GPS time slot ultrasonic distance measurement orbitron slideway vehicle collision avoidance system |
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| CN201910166242.0A CN109794068A (en) | 2019-03-06 | 2019-03-06 | One kind being based on Beidou/GPS time slot ultrasonic distance measurement orbitron slideway vehicle collision avoidance system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110227270A (en) * | 2019-06-13 | 2019-09-13 | 福建省特种设备检验研究院 | A kind of spiral water slide safe operation monitoring management control system |
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