CN111580509A - Multifunctional intelligent mobile platform for track operation - Google Patents
Multifunctional intelligent mobile platform for track operation Download PDFInfo
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- CN111580509A CN111580509A CN202010312320.6A CN202010312320A CN111580509A CN 111580509 A CN111580509 A CN 111580509A CN 202010312320 A CN202010312320 A CN 202010312320A CN 111580509 A CN111580509 A CN 111580509A
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- 238000005286 illumination Methods 0.000 claims abstract description 8
- 238000001514 detection method Methods 0.000 claims description 13
- 238000012423 maintenance Methods 0.000 claims description 8
- 238000005259 measurement Methods 0.000 claims description 7
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 claims description 4
- 229910052744 lithium Inorganic materials 0.000 claims description 4
- 230000007246 mechanism Effects 0.000 claims description 4
- 230000004048 modification Effects 0.000 claims description 4
- 238000012986 modification Methods 0.000 claims description 4
- 229910000831 Steel Inorganic materials 0.000 claims description 3
- 230000005856 abnormality Effects 0.000 claims description 3
- 238000012544 monitoring process Methods 0.000 claims description 3
- 239000003973 paint Substances 0.000 claims description 3
- 239000010959 steel Substances 0.000 claims description 3
- 238000005299 abrasion Methods 0.000 claims description 2
- 238000004891 communication Methods 0.000 description 8
- 230000003993 interaction Effects 0.000 description 6
- 230000005540 biological transmission Effects 0.000 description 5
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- JEIPFZHSYJVQDO-UHFFFAOYSA-N iron(III) oxide Inorganic materials O=[Fe]O[Fe]=O JEIPFZHSYJVQDO-UHFFFAOYSA-N 0.000 description 2
- 230000004044 response Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
- G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/0285—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using signals transmitted via a public communication network, e.g. GSM network
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
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- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Train Traffic Observation, Control, And Security (AREA)
Abstract
The invention provides a multifunctional intelligent mobile platform for track operation, which comprises: the operation unit is used for controlling the operation unit, the power unit, the execution unit, the walking unit and the illumination unit, and the operation unit is used for operating the operation unit, the power unit, the execution unit, the walking unit and the illumination unit. The multifunctional intelligent mobile platform can replace manual work to complete corresponding track operation.
Description
Technical Field
The invention relates to a multifunctional intelligent mobile platform for track operation, and belongs to the field of track operation.
Background
The existing track operation is mostly manual operation, the operation types are multiple, the cost is high, the efficiency is low, and the operation quality is difficult to control due to the influence of multiple uncertain human factors.
At present, a simple and quick rail operation method with multiple functions is urgently needed, a large number of people can be relieved from simple and repeated labor, the cost is saved, the workload is reduced, and the rail operation quality can be ensured.
Disclosure of Invention
The invention aims to provide a multifunctional intelligent mobile platform for track operation so as to improve the quality of track operation.
The invention adopts the following technical scheme:
the invention provides a multifunctional intelligent mobile platform for track operation, which is characterized by comprising: the device comprises a working unit, a power unit, a control unit, an execution unit, a walking unit, an operation unit and an illumination unit, wherein the control unit is used for controlling the working unit, the power unit, the execution unit, the walking unit, the operation unit and the illumination unit.
Further, the multifunctional intelligent mobile platform for track operation of the invention also has the following characteristics: the operation unit is an independent distance measurement module, and when the distance mark on the track becomes inaccurate due to abrasion, the operation unit calibrates the distance mark.
Further, the multifunctional intelligent mobile platform for track operation of the invention also has the following characteristics: the operation unit is integrated with one or a combination of at least two of a distance measurement module, a versine module, a scribing module, a versine primer module or a video monitoring module.
Further, the multifunctional intelligent mobile platform for track operation of the invention also has the following characteristics: the job unit has an expansion interface.
Further, the multifunctional intelligent mobile platform for track operation of the invention also has the following characteristics: the power unit is powered by lithium battery, has short circuit and overload protection, and is accompanied with electric quantity display.
Further, the multifunctional intelligent mobile platform for track operation of the invention also has the following characteristics: the control unit is provided with a local basic function module, the local basic function module comprises a maintenance operation module, a speed control module and a platform position tracking module, the maintenance operation module comprises a temperature detection module, an electric quantity detection module, a residual paint quantity detection module, an equipment operation data maintenance module and a local basic function module, data detection or reading is carried out according to a preset period, and when abnormality occurs, the data detection or reading is sent to the operation unit and locally recorded.
Further, the multifunctional intelligent mobile platform for track operation of the invention also has the following characteristics: the execution unit is used for executing printing versine operation, versine primer operation or scribing operation.
Further, the multifunctional intelligent mobile platform for track operation of the invention also has the following characteristics:
the walking unit adopts a roller clamping mechanism and is suitable for various types of steel rails. When the walking unit is placed on the monorail, the machine can be automatically kept balanced, and the automatic walking and rapid evacuation of the monorail can be assisted by the machine.
Further, the multifunctional intelligent mobile platform for track operation of the invention also has the following characteristics: the operation unit is an independent mobile terminal or an APP installed in an existing mobile terminal.
Further, the multifunctional intelligent mobile platform for track operation of the invention also has the following characteristics: the operation unit has the following modules:
the prompting module is used for prompting related states, such as a Bluetooth connection state, a working file opening state and the like;
the key operation module is used for providing key operation;
the parameter editing module is used for modifying and editing the parameters;
the data reading and displaying module is used for reading and displaying the data of the working file;
the data modification writing module is used for modifying and writing the data of the working file;
and the data skipping sequence switching module is used for skipping and switching the sequence of the working data.
The invention has the beneficial effects that:
1. the multifunctional intelligent mobile platform can replace manual work to complete corresponding track operation.
2. The invention can select a plurality of track operation module combinations, such as a curve element marking module, a printing vector module, a marking module, a vector primer module, a distance measuring module and the like, aiming at different track operations. The multifunctional intelligent mobile platform can select a proper module to complete track operations such as curve element marking, printing of director, scribing, director primer, ranging and the like according to different operation requirements.
3. The plurality of track modules can also be separately and independently operated, or a plurality of functions can be integrated into one module according to the operation requirement, and the track operation can be simultaneously completed.
4. The control unit can expand various functions and can make the equipment have multiple purposes.
5. The execution unit may perform various functions such as printing director, director primer, scribing, etc. With the gradual improvement of equipment, the functions of detecting the track can be expanded.
Drawings
FIG. 1 is a schematic diagram of the structure of the present invention;
FIG. 2 is a schematic diagram of a communication scheme of the present invention;
FIGS. 3a and 3b are flow charts of the operating unit program execution of the present invention;
FIG. 4 is a flow chart of control unit instruction processing according to the present invention;
FIG. 5 is a flow chart of a marking task implementation of the present invention;
fig. 6 is a diagram of a mobile platform hardware deployment scenario for the case of the present invention.
Detailed Description
The technical scheme of the invention is further explained by combining the attached drawings.
< example one >
As shown in fig. 1, the multifunctional intelligent mobile platform for rail work includes: the operation unit 1, the power unit 2, the control unit 3, the execution unit 4, the traveling unit 5, the operation unit 6, and the illumination unit 7, and the control unit controls the respective units.
In different embodiments, to meet different job requirements, the job unit 1 may be a distance measurement module, a curve element marking module, a printing vector module, a scribing module, a vector primer module, a distance measurement module, or a video monitoring module. The operation unit is provided with an expansion interface for connecting the modules. Each module can be used independently or in combination of two or more modules, so that different operation tasks can be completed correspondingly.
The power unit 2 may be powered by a lithium battery or other replaceable energy source, and the power supply battery itself has short circuit and overload protection and is accompanied by a power display.
The control unit 3 is composed of a microcontroller and peripheral electronics. Has the characteristics of small volume, high performance, stable work and the like. An execution unit 4 for controlling the equipment, a walking unit 5 and other units of the equipment. The controller can integrate various algorithms for ranging and positioning and other control software modules matched with other operation unit functions, thereby expanding various functions and enabling the equipment to have multiple purposes.
The execution unit 4 can perform various functions such as printing of director, director primer and scribing, and can be further extended to perform various functions of rail inspection.
The walking unit 5 adopts a roller clamping mechanism and is suitable for various types of steel rails. When the walking unit 5 is placed on the monorail, the machine can be automatically kept balanced, the automatic walking of the machine and the rapid evacuation of the monorail can be assisted, and the monorail is safe and rapid.
The operation unit 6 may be a touch screen, a mobile phone, a tablet computer, or the like, or may be installed in the mobile terminal as an independent APP. The equipment can achieve the purpose of controlling the equipment through the control unit, and information exchange between the equipment and information exchange between the equipment and the background are carried out through networking intercommunication of the operation platform, so that the operation unit becomes a node of an information platform, and a large amount of useful data is provided for clients and equipment manufacturers.
And an illumination unit 7 for providing illumination when the apparatus is operated at night or in an area where light conditions are not good.
In this embodiment the working unit 1 is a separate distance measuring module, which is used for calibration when the distance indication on the track becomes inaccurate due to wear.
The operation steps of the invention are as follows: firstly, data is imported by the operation unit, an operation mode is selected in the operation unit, and an operator observes whether the data items are correct and carries out corresponding modification, and then presses a start key to start working.
The invention has the following steps: after the confirmation key is pressed, the control unit performs related calculation, the walking unit walks to a corresponding position, the execution unit is responsible for completing the operation, and other units play an auxiliary role.
The multifunctional intelligent mobile platform provided by the invention is described below by taking a marking task of actual track operation as an example.
Hardware deployment scheme
In this embodiment, the operation unit is a handheld terminal of a mobile phone or a tablet device.
The hardware deployment scenario of the mobile platform is shown in fig. 6.
(II) Algorithm deployment scheme
The overall algorithm deployment is divided into two major parts by hardware. The first part is on the interactive terminal, i.e. the operation unit; the second part is on the control unit. The first part on the operation unit is mainly responsible for reading, processing and sending the working data and man-machine interaction with the operating personnel, and the second part on the control unit is mainly responsible for analyzing the instructions of the operation unit and controlling the execution mechanism. The program execution flow of the operating unit is shown in fig. 3a and fig. 3b, and the program execution flow of the control unit is shown in fig. 5 and fig. 6.
(III) operating unit
a. Human-computer interaction scheme
And man-machine interaction, namely determining a scheme through which the information interaction between the human and the invention is finished. Since the working site is an actual railway site in most cases, in consideration of convenience of operation, the operation unit in this embodiment is in the form of a mobile terminal, and the operation unit is carried in the form of APP.
b. Communication protocol
The operation unit adopts wireless communication, so the operation unit and the control unit are isolated on software resources, and information interaction between the operation unit and the control unit needs to be established through a wireless network. The embodiment adopts Bluetooth connection and completes information interaction between units through an autonomously defined communication protocol. The following is a detailed description of the communication content:
communication essentially requires the transmission of two types of instructions, one command type and one data type. The receiving is carried out when the data are sent, one receiving function is to judge whether the sent data are normally transmitted to the multifunctional intelligent mobile platform according to the return code, and the other receiving function is to read the data from the control end unit and extract the required data from the return code.
According to the communication requirements, four functional codes are defined, which are respectively: sending command, sending data, responding command and responding data. The send command is a code for sending a control command, the send data is a code for sending data, the response command is a code for returning the control unit to the command of the operation unit, and the data response is a code for returning the control unit to the data of the operation unit.
c. Operating unit function
To accomplish the track marking task, the following functions are mainly performed in the handheld operation unit in the present embodiment.
(1) A prompt function, which prompts related states, such as a Bluetooth connection state, a work file opening state and the like;
(2) a key operation function;
(3) a parameter editing function;
(4) the data reading and displaying functions of the working files;
(5) the data modification and writing functions of the working file;
(6) and the functions of working data jumping and sequential switching.
(IV) control Unit
The control unit is in charge of data reading, analysis and execution logic of the operation unit on one hand; on the other hand, the basic control of the local equipment is completed, including positioning, speed control and the like. The instruction processing flow diagram of the control unit is shown in fig. 4.
In the preparation phase, the operating unit initiates a connection to the bluetooth device of the control unit, as shown in fig. 2.
As shown in fig. 4, after the connection is established, when the bluetooth device receives data, it generates an interrupt, closes the interrupt, and enters an interrupt function to process the received data, and first analyzes the instruction data, determines whether a transmission error occurs according to the check code, and returns the determination result to the operation unit, and if a transmission error occurs, ends the message processing and opens the interrupt. If the transmission is correct, the command is analyzed according to a communication protocol, and if the command is a basic switch control command or a movement command, corresponding function control is carried out; if the instruction is a batch data transmission instruction, receiving data; and if the marking execution instruction is the marking execution instruction, entering a marking process.
The marking process is the core work to be completed by this embodiment. The whole marking work is divided into the following steps, and the program flow chart is shown in figure 5:
(1) reading a marking European standard and confirming a marking position;
(2) moving to a designated position;
(3) carrying out rust removal work;
(3) priming work is carried out;
(4) and performing data printing work.
The position needs to be read all the time in the whole process so as to ensure the accuracy of marking.
The control unit is provided with a local basic function module and is used for carrying out maintenance work on the current equipment, such as temperature detection, electric quantity detection, current residual paint quantity detection, equipment operation data maintenance and the like. The local basic function module periodically reads data of the sensor for detecting the quantity to be detected, and when abnormality occurs, the data is sent to the operation unit and is locally recorded.
In addition, the local basic function module also comprises speed control of the walking unit, platform position tracking and the like.
(V) an execution unit
The embodiment relates to three tasks of derusting, priming and data printing, so that the execution unit of the embodiment comprises the following components: the device comprises a rust removing device, a priming device and a data printing device.
(VI) traveling unit
The present embodiment is used in a railway field, and thus the unit is moved by a wheel structure. An encoder is additionally arranged on the motor gear, so that on one hand, closed-loop control can be performed on the speed, and accurate running speed control is realized; on the other hand, accurate mileage information can be obtained by the encoder, thereby positioning the device.
(VII) Power Unit
The lithium battery is adopted as a power source in the embodiment, so that the portability and the endurance of the equipment are both considered. The power supply battery is provided with short circuit and overload protection and is attached with an electric quantity display.
(eight) Lighting Unit
In order to ensure the safety of night operation, the LED illuminating device and the brightness adjusting circuit are additionally arranged on the platform, so that moderate light supplement can be performed in different brightness environments, and operation control personnel can observe the operation condition of the current equipment.
< example two >
The difference between this embodiment and the first embodiment is that the operation unit 1 integrates the distance measurement function and the functions of vector, scribe, and vector primer into one module, and after the module is combined with the rail operation equipment, the rail operation equipment can be used for not only measuring the distance traveled on the rail and identifying the distance on the rail, but also printing the operations of vector, scribe, vector primer, and the like on the rail.
Claims (10)
1. A multi-functional intelligent mobile platform for track operations, comprising:
an operation unit, a power unit, a control unit, an execution unit, a walking unit, an operation unit and a lighting unit,
and the control unit is used for controlling the working unit, the power unit, the execution unit, the walking unit, the operation unit and the illumination unit.
2. The multifunctional intelligent mobile platform for rail operations of claim 1, wherein:
the operation unit is an independent distance measurement module, and when the distance mark on the track becomes inaccurate due to abrasion, the operation unit calibrates the distance mark.
3. The multifunctional intelligent mobile platform for rail operations of claim 1, wherein:
the operation unit is integrated with one or a combination of at least two of a distance measurement module, a versine module, a scribing module, a versine primer module or a video monitoring module.
4. The multifunctional intelligent mobile platform for rail operations of claim 1, wherein:
wherein, the operation unit is provided with an expansion interface.
5. The multifunctional intelligent mobile platform for rail operations of claim 1, wherein:
the power unit is powered by lithium battery, has short circuit and overload protection, and is accompanied with electric quantity display.
6. The multifunctional intelligent mobile platform for rail operations of claim 1, wherein:
the control unit is provided with a local basic function module, the local basic function module comprises a maintenance operation module, a speed control module and a platform position tracking module, the maintenance operation module comprises a temperature detection module, an electric quantity detection module, a residual paint quantity detection module, an equipment operation data maintenance module and a local basic function module, data detection or reading is carried out according to a preset period, and when abnormality occurs, the data detection or reading is sent to the operation unit and locally recorded.
7. The multifunctional intelligent mobile platform for rail operations of claim 1, wherein:
the execution unit is used for executing printing versine operation, versine primer operation or scribing operation.
8. The multifunctional intelligent mobile platform for rail operations of claim 1, wherein:
the walking unit adopts a roller clamping mechanism and is suitable for various types of steel rails. When the walking unit is placed on the monorail, the machine can be automatically kept balanced, and the automatic walking and rapid evacuation of the monorail can be assisted by the machine.
9. The multifunctional intelligent mobile platform for rail operations of claim 1, wherein:
the operation unit is an independent mobile terminal or an APP installed in an existing mobile terminal.
10. The multifunctional intelligent mobile platform for rail operations of claim 1, wherein:
the operation unit has the following modules:
the prompting module is used for prompting related states, such as a Bluetooth connection state, a working file opening state and the like;
the key operation module is used for providing key operation;
the parameter editing module is used for modifying and editing the parameters;
the data reading and displaying module is used for reading and displaying the data of the working file;
the data modification writing module is used for modifying and writing the data of the working file;
and the data skipping sequence switching module is used for skipping and switching the sequence of the working data.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010312320.6A CN111580509A (en) | 2020-04-20 | 2020-04-20 | Multifunctional intelligent mobile platform for track operation |
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| CN202010312320.6A CN111580509A (en) | 2020-04-20 | 2020-04-20 | Multifunctional intelligent mobile platform for track operation |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113696642A (en) * | 2021-08-25 | 2021-11-26 | 耘创九州智能装备有限公司 | One-stop multifunctional linkage track intelligent marking system and method |
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