CN110989584A - Unmanned intelligent control system of flow velocity calibrating device - Google Patents
Unmanned intelligent control system of flow velocity calibrating device Download PDFInfo
- Publication number
- CN110989584A CN110989584A CN201911185448.4A CN201911185448A CN110989584A CN 110989584 A CN110989584 A CN 110989584A CN 201911185448 A CN201911185448 A CN 201911185448A CN 110989584 A CN110989584 A CN 110989584A
- Authority
- CN
- China
- Prior art keywords
- vehicle
- verification
- distance
- obstacle
- control system
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000012795 verification Methods 0.000 claims abstract description 43
- 238000001514 detection method Methods 0.000 claims abstract description 8
- 238000012790 confirmation Methods 0.000 claims abstract description 4
- 238000009434 installation Methods 0.000 claims 1
- 238000012360 testing method Methods 0.000 abstract description 2
- 238000000034 method Methods 0.000 abstract 1
- 238000012545 processing Methods 0.000 abstract 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 3
- 230000004075 alteration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
Abstract
The invention discloses an unmanned intelligent control system of a flow velocity calibrating device, which comprises a controller, a flow velocity calibrating device and a flow velocity calibrating device, wherein the controller is used for controlling the starting and stopping of a calibrating vehicle; the safety distance confirmation calculates the absolute position of the verification vehicle on the track in real time through an absolute encoder and a laser ranging sensor, judges the front safety distance and further carries out brake treatment on the verification vehicle; the method comprises the following steps that a laser distance sensor is arranged at the position, located on a guide rail, of a verification vehicle in obstacle detection, and the laser distance sensor irradiates an obstacle on a rail, and then brake processing is carried out on the verification vehicle; the control that safe distance determination can be fine examines and determine the security of traveling of car, and the infrared ray sensor production data volume that sets up is little moreover, and the testing result is difficult for receiving external influence, is difficult for appearing the false positive, dangerous production in the completion unmanned driving that can be fine for unmanned driving is safer, makes the completion work of staff's peaceful on the examination car.
Description
Technical Field
The invention relates to the technical field of verification vehicles, in particular to an unmanned intelligent control system of a flow velocity verification device.
Background
The verification vehicle is a device for experimental simulation of water flow, and is arranged on a guide rail on a water tank and moves on the guide rail so as to simulate water flow. The existing verification vehicle needs a driver to drive the verification vehicle, so that the originally narrow control room is more crowded, and the work of workers is not facilitated.
Disclosure of Invention
The invention aims to provide an unmanned intelligent control system of a flow velocity verification device, which can carry out unmanned driving on a verification vehicle and can automatically judge whether obstacles exist on a guide rail.
In order to solve the technical problems, the technical scheme of the invention is as follows: an unmanned intelligent control system of a flow velocity verification device comprises:
the controller controls the starting and stopping of the verification vehicle;
safety distance confirmation: calculating the absolute position of the verification vehicle on the track in real time through an absolute encoder and a laser ranging sensor, judging the front safety distance, and performing braking treatment on the verification vehicle by a controller according to the vehicle speed and the front stopping distance;
obstacle detection: the laser distance sensor is arranged at the position, located on the guide rail, of the verification vehicle, and after the laser distance sensor irradiates the obstacle on the rail, the controller carries out braking treatment on the verification vehicle according to the vehicle speed and the distance between the obstacle in front.
As a preferred embodiment, the controller needs to set the running speed and the running distance of the verification vehicle before controlling the verification vehicle to start.
As a preferred embodiment, the safe distance is not less than (the current vehicle speed multiplied by the running time) + the vehicle body deceleration distance.
As a preferred embodiment, the front end and the rear end of the detection vehicle are also provided with obstacle removers for removing obstacles which cannot be irradiated by the laser ranging sensors.
As a preferred embodiment, the obstacle clearing device comprises a linear bearing, a guide shaft, a buffer spring, a collision plate and an obstacle clearing portion, wherein the guide shaft is fixed at the front end and the rear end of the verification vehicle through the linear bearing, one end of the guide shaft is connected with the collision plate, the buffer spring is sleeved on the guide shaft, the obstacle clearing portion is arranged at the lower end of the collision plate, and the obstacle clearing portion is obliquely arranged.
The beneficial effects obtained by adopting the technical scheme are as follows: the control that safe distance determination can be fine examines and determine the security of traveling of car, and the infrared ray sensor production data volume that sets up is little moreover, and the testing result is difficult for receiving external influence, is difficult for appearing the false positive, dangerous production in the completion unmanned driving that can be fine for unmanned driving is safer, makes the completion work of staff's peaceful on the examination car.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
FIG. 1 is a schematic view of the present invention;
fig. 2 is a schematic structural diagram of the obstacle eliminator of the invention.
In the figure: 1-a linear bearing; 2-a guide shaft; 3-a buffer spring; 4-a collision plate; 5-obstacle clearing part.
Detailed Description
The following further describes embodiments of the present invention with reference to the drawings. It should be noted that the description of the embodiments is provided to help understanding of the present invention, but the present invention is not limited thereto. In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
The invention is further described with reference to the accompanying drawings, so that a person skilled in the art can better implement the invention, and the unmanned intelligent control system of the flow velocity verification device, provided by the embodiment of the invention, controls the starting and stopping of the verification vehicle; safety distance confirmation: calculating the absolute position of the verification vehicle on the track in real time through an absolute encoder and a laser ranging sensor, judging the front safety distance, and performing braking treatment on the verification vehicle by a controller according to the vehicle speed and the front stopping distance; obstacle detection: the laser distance sensor is arranged at the position, located on the guide rail, of the verification vehicle, and after the laser distance sensor irradiates the obstacle on the rail, the controller carries out braking treatment on the verification vehicle according to the vehicle speed and the distance between the obstacle in front.
The controller of the embodiment of the invention needs to set the running speed and the running distance of the verification vehicle before controlling the verification vehicle to start; the safe distance is more than or equal to (the current speed is multiplied by the running time) + the vehicle body deceleration distance; in order to remove small obstacles and obstacles which cannot be found by the laser distance sensor, the front end and the rear end of the detection vehicle are provided with obstacle removers which are used for removing obstacles which cannot be irradiated by the laser distance sensor. The obstacle clearing device comprises a linear bearing 1, a guide shaft 2, a buffer spring 3, a collision plate 4 and an obstacle clearing portion 5, wherein the guide shaft 2 is fixed at the front and rear ends of the verification vehicle through the linear bearing 1, one end of the guide shaft 2 is connected with the collision plate 4, the buffer spring 3 is sleeved on the guide shaft 2, the obstacle clearing portion 5 is arranged at the lower end of the collision plate 4, and the obstacle clearing portion 5 is obliquely arranged.
The safety distance determination of the embodiment of the invention can well control the driving safety of the verification vehicle, the production data volume of the arranged infrared sensor is small, the detection result is not easily influenced by the outside, the false alarm is not easy to occur, the danger generation in unmanned driving can be well completed, the unmanned driving is safer, and the workers on the verification vehicle can complete the work safely.
The embodiments of the present invention have been described in detail with reference to the accompanying drawings, but the present invention is not limited to the described embodiments. It will be apparent to those skilled in the art that various changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, and the scope of protection is still within the scope of the invention.
Claims (5)
1. The utility model provides a velocity of flow calibrating installation unmanned intelligent control system which characterized in that includes:
the controller controls the starting and stopping of the verification vehicle;
safety distance confirmation: calculating the absolute position of the verification vehicle on the track in real time through an absolute encoder and a laser ranging sensor, judging the front safety distance, and performing braking treatment on the verification vehicle by a controller according to the vehicle speed and the front stopping distance;
obstacle detection: the laser distance sensor is arranged at the position, located on the guide rail, of the verification vehicle, and after the laser distance sensor irradiates the obstacle on the rail, the controller carries out braking treatment on the verification vehicle according to the vehicle speed and the distance between the obstacle in front.
2. The unmanned intelligent control system of flow rate verification device of claim 1, wherein: the controller needs to set the running speed and the running distance of the verification vehicle before controlling the verification vehicle to start.
3. The unmanned intelligent control system of flow rate verification device of claim 2, wherein: the safe distance is more than or equal to (the current speed multiplied by the running time) + the vehicle body deceleration distance.
4. The unmanned intelligent control system of flow rate verification device of claim 3, wherein: the front end and the rear end of the detection vehicle are also provided with obstacle removers for removing obstacles which cannot be irradiated by the laser ranging sensors.
5. The unmanned intelligent control system of flow rate verification device of claim 4, wherein: the obstacle clearing device comprises a linear bearing, a guide shaft, a buffer spring, a collision plate and an obstacle clearing portion, wherein the guide shaft is fixed at the front and rear ends of the verification vehicle through the linear bearing, one end of the guide shaft is connected with the collision plate, the buffer spring is sleeved on the guide shaft, the obstacle clearing portion is arranged at the lower end of the collision plate, and the obstacle clearing portion is obliquely arranged.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911185448.4A CN110989584A (en) | 2019-11-27 | 2019-11-27 | Unmanned intelligent control system of flow velocity calibrating device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911185448.4A CN110989584A (en) | 2019-11-27 | 2019-11-27 | Unmanned intelligent control system of flow velocity calibrating device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110989584A true CN110989584A (en) | 2020-04-10 |
Family
ID=70087502
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911185448.4A Pending CN110989584A (en) | 2019-11-27 | 2019-11-27 | Unmanned intelligent control system of flow velocity calibrating device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110989584A (en) |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103575367A (en) * | 2013-03-08 | 2014-02-12 | 新疆维吾尔自治区计量测试研究院 | Guide rail type calibrating device for reflection-type liquid level meter |
| CN204287495U (en) * | 2014-12-31 | 2015-04-22 | 刘志宏 | X-gamma-dosimeter automatic calibrator |
| CN204701630U (en) * | 2015-06-30 | 2015-10-14 | 北京金日新事业技术有限公司 | Merge the guideway vehicle proximity-warning device of laser ranging and coding ranging technology |
| CN105438197A (en) * | 2015-12-23 | 2016-03-30 | 株洲时代电子技术有限公司 | Obstacle detecting trolley and operation method thereof |
| CN107037436A (en) * | 2016-10-13 | 2017-08-11 | 交控科技股份有限公司 | In a kind of train and its travel direction obstacle spacing from detection method |
| CN107867301A (en) * | 2017-12-25 | 2018-04-03 | 中铁第四勘察设计院集团有限公司 | Track repetition measurement measurement car with laser plummet |
| CN108082088A (en) * | 2017-12-19 | 2018-05-29 | 成都育芽科技有限公司 | A kind of automatic Pilot lorry active anti-collision device |
| CN110182511A (en) * | 2019-05-13 | 2019-08-30 | 盐城品迅智能科技服务有限公司 | A kind of the steering deceleration device and turning retarding method of intelligent storage vehicle |
| CN209479669U (en) * | 2019-02-13 | 2019-10-11 | 大连交通大学 | The device removed obstacles for rail level |
-
2019
- 2019-11-27 CN CN201911185448.4A patent/CN110989584A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103575367A (en) * | 2013-03-08 | 2014-02-12 | 新疆维吾尔自治区计量测试研究院 | Guide rail type calibrating device for reflection-type liquid level meter |
| CN204287495U (en) * | 2014-12-31 | 2015-04-22 | 刘志宏 | X-gamma-dosimeter automatic calibrator |
| CN204701630U (en) * | 2015-06-30 | 2015-10-14 | 北京金日新事业技术有限公司 | Merge the guideway vehicle proximity-warning device of laser ranging and coding ranging technology |
| CN105438197A (en) * | 2015-12-23 | 2016-03-30 | 株洲时代电子技术有限公司 | Obstacle detecting trolley and operation method thereof |
| CN107037436A (en) * | 2016-10-13 | 2017-08-11 | 交控科技股份有限公司 | In a kind of train and its travel direction obstacle spacing from detection method |
| CN108082088A (en) * | 2017-12-19 | 2018-05-29 | 成都育芽科技有限公司 | A kind of automatic Pilot lorry active anti-collision device |
| CN107867301A (en) * | 2017-12-25 | 2018-04-03 | 中铁第四勘察设计院集团有限公司 | Track repetition measurement measurement car with laser plummet |
| CN209479669U (en) * | 2019-02-13 | 2019-10-11 | 大连交通大学 | The device removed obstacles for rail level |
| CN110182511A (en) * | 2019-05-13 | 2019-08-30 | 盐城品迅智能科技服务有限公司 | A kind of the steering deceleration device and turning retarding method of intelligent storage vehicle |
Non-Patent Citations (1)
| Title |
|---|
| 高伟: "流速监测仪器计量装置设计研究", 《中国水利》 * |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106427998B (en) | The control method of the urgent lane change collision avoidance of vehicle under a kind of fast state | |
| CN105966396B (en) | A kind of vehicle intelligent collision control method based on driver's collision avoidance behavior | |
| CN105216727B (en) | A kind of vehicle distances detection active safety system and control method | |
| CN104859654B (en) | The real-time computing technique of limiting vehicle speed target range and with progress control method of speeding | |
| CN105246733B (en) | Method and apparatus for emergency auxiliary | |
| CN108657065A (en) | A kind of automobile active anticollision sub-controlling unit and its control method | |
| CN103477378B (en) | Drive assistance device | |
| CN109677404A (en) | A kind of the automobile active safety auxiliary device and method of the bus or train route collaboration based on driving behavior | |
| CN105835870B (en) | Vehicle travel control method, device and computer equipment | |
| CN201400150Y (en) | Rear-end collision preventing control device of vehicle | |
| CN104487308A (en) | Drive assist device | |
| CN105151043A (en) | Emergency avoidance system and method for unmanned automobile | |
| CN106882182A (en) | A kind of automobile intelligent obstacle avoidance system | |
| CN107672626B (en) | Railway vehicle anti-collision system and method based on time interval maintenance | |
| CN108189709A (en) | The control method and electric vehicle of a kind of braking system of electric car | |
| CN109334661B (en) | Obstacle avoidance pre-judgment method based on speed obstacle model and collision probability density model | |
| CN109849977B (en) | Tramcar auxiliary safety protection method based on abnormal state detection | |
| CN105263736A (en) | Emergency assistance without activated lateral guidance assistance | |
| CN106542029A (en) | A kind of old Intelligent scooter | |
| CN108437982A (en) | A kind of automatic parking device and method | |
| CN108638966A (en) | A kind of automobile assistant driving system and auxiliary driving method based on blind area monitoring | |
| CN104260758A (en) | Train control method and device | |
| CN106564502A (en) | Method and device for determining the adaptive reaction time of driver of motor vehicle | |
| CN108248686A (en) | A kind of emergency braking control method based on four-wheel independent steering driving line traffic control automobile | |
| CN106004671A (en) | Intersection vehicle anti-collision system and method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |