CN112346385A - Bridge maintenance car control system based on 5G communication - Google Patents
Bridge maintenance car control system based on 5G communication Download PDFInfo
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- CN112346385A CN112346385A CN202011239985.5A CN202011239985A CN112346385A CN 112346385 A CN112346385 A CN 112346385A CN 202011239985 A CN202011239985 A CN 202011239985A CN 112346385 A CN112346385 A CN 112346385A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01D—CONSTRUCTION OF BRIDGES, ELEVATED ROADWAYS OR VIADUCTS; ASSEMBLY OF BRIDGES
- E01D19/00—Structural or constructional details of bridges
- E01D19/10—Railings; Protectors against smoke or gases, e.g. of locomotives; Maintenance travellers; Fastening of pipes or cables to bridges
- E01D19/106—Movable inspection or maintenance platforms, e.g. travelling scaffolding or vehicles specially designed to provide access to the undersides of bridges
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/25—Pc structure of the system
- G05B2219/25257—Microcontroller
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- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
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- General Physics & Mathematics (AREA)
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- Management, Administration, Business Operations System, And Electronic Commerce (AREA)
Abstract
The invention discloses a bridge maintenance car control system based on 5G communication, which comprises a maintenance car vehicle-mounted system, a maintenance car central control intelligent management platform and a communication system, wherein the maintenance car vehicle-mounted system comprises a maintenance car vehicle-mounted control subsystem and a maintenance car video monitoring subsystem, the communication system comprises a vehicle-mounted 5G configuration mobile data module, and the maintenance car central control intelligent management platform is connected with the vehicle-mounted 5G configuration mobile data module through an operator network for data exchange with the maintenance car vehicle-mounted system. The invention realizes the functions of the maintenance vehicle such as running control, space position identification, maintenance vehicle running state monitoring, video image system control and the like, is responsible for data exchange of a central control system and the whole vehicle-mounted system, improves the running, state and control cooperativity of a plurality of maintenance vehicles, and ensures that the maintenance vehicles are matched with each other to regulate and control the maintenance process.
Description
Technical Field
The invention relates to the technical field of bridge maintenance vehicles, in particular to a bridge maintenance vehicle control system based on 5G communication.
Background
Along with the rapid development of economy, various large-span bridges are more and more, the large bridge is subjected to omnibearing and full-three-dimensional detection and maintenance, and the whole maintenance operation process is simple, safe and convenient, so that the method becomes urgent.
The existing bridge inspection equipment is vehicle-mounted, the existing equipment can not meet the requirements of bridge inspection work far away, a plurality of inspection vehicles can inspect different positions of a bridge at the same time, the positions of the inspection vehicles are changed all the time in the walking process, and the existing system and equipment can not well realize the monitoring function.
Disclosure of Invention
Based on the technical problems in the background art, the invention provides a bridge maintenance vehicle control system based on 5G communication.
The invention provides a bridge maintenance vehicle control system based on 5G communication, which comprises a maintenance vehicle-mounted system, a maintenance vehicle central control intelligent management platform and a communication system, wherein the maintenance vehicle-mounted system comprises a maintenance vehicle-mounted control subsystem and a maintenance vehicle video monitoring subsystem, the communication system comprises a vehicle-mounted 5G configuration mobile data module, the maintenance vehicle central control intelligent management platform is connected with the vehicle-mounted 5G configuration mobile data module through an operator network for data exchange with the maintenance vehicle-mounted system, the maintenance vehicle video monitoring subsystem is one of functional systems of a bridge maintenance vehicle, the maintenance vehicle-mounted control subsystem is formed by the cooperation of two parts, namely a maintenance vehicle-mounted control hardware system and a maintenance vehicle-mounted control software system, and the maintenance vehicle-mounted control hardware system is formed by an automatic maintenance vehicle control module, a maintenance vehicle spatial position identification module and a maintenance vehicle spatial position identification module, The maintenance vehicle operation state monitoring module and the data storage module are combined, and the maintenance vehicle automatic control module, the maintenance vehicle space position identification module, the maintenance vehicle operation state monitoring module and the data storage module work in cooperation with one another.
As a further aspect of the present invention, the automatic control module of the maintenance vehicle includes a driving motor controller and a control panel.
As a further scheme of the invention, the space position identification module of the maintenance vehicle comprises absolute position identification and relative position identification, wherein the absolute position identification is used for sensing distance measurement through signals between the vehicle-mounted space position identification module of the maintenance vehicle and a bridge, and the relative position identification is used for sensing distance measurement through signals at relative positions between the vehicle-mounted space position identification modules of the maintenance vehicle.
As a further aspect of the present invention, the maintenance vehicle operation state monitoring module includes a lithium battery BMS module, an optical encoder, and a vector sensor.
As a further scheme of the invention, keys, indicator lights and touch screens are distributed on the control panel, the keys and the indicator lights are connected with an I/O module, the keys and the indicator lights are connected to a maintenance vehicle-mounted control hardware system through the I/O module and a maintenance vehicle-mounted control software system, and a signal end of the maintenance vehicle-mounted control software system is connected with the touch screens.
As a further scheme of the invention, the driving motor controller, the lithium battery BMS module and the optical encoder are connected to a maintenance vehicle-mounted control hardware system through a maintenance vehicle-mounted control software system, the maintenance vehicle-mounted control hardware system is connected with a switch, and a vehicle-mounted 5G configuration mobile data module in the maintenance vehicle-mounted control hardware system synchronizes signals through the switch.
As a further aspect of the present invention, the vector sensor includes a speed sensor, an inclination sensor, and an orientation sensor, and the speed sensor, the inclination sensor, and the orientation sensor cooperate with each other.
The beneficial effects of the invention are as follows:
1. the vehicle-mounted control system in the bridge maintenance vehicle control system mainly comprises functions of running control, spatial position identification, maintenance vehicle running state monitoring, video image system control and the like of the maintenance vehicle, and is responsible for data exchange of a central control system and the whole vehicle-mounted system, so that the running, state and control cooperativity of a plurality of maintenance vehicles is improved, and the maintenance vehicles are matched with each other to regulate and control a maintenance process;
2. according to the video monitoring system for the maintenance vehicle in the bridge maintenance vehicle control system, the vehicle-mounted system can effectively realize observation, photographing and video recording operations of observation objects such as a side structure, a bridge side surface, a bridge bottom surface, a steel beam, a track, a joint and a structure surface through control of modes such as cloud deck pitching and camera self-rotation, zooming and the like, the monitoring comprehensiveness is improved, and avoidance and path planning are controlled by the maintenance vehicle in a coordinated mode.
Drawings
FIG. 1 is a functional diagram of a detection vehicle control system of a bridge maintenance vehicle control system based on 5G communication according to the present invention;
fig. 2 is a schematic diagram of an inspection vehicle control system of a bridge inspection vehicle control system based on 5G communication according to the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.
In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention.
A bridge maintenance car control system based on 5G communication comprises a maintenance car vehicle-mounted system, a maintenance car central control intelligent management platform and a communication system, wherein the maintenance car vehicle-mounted system comprises a maintenance car vehicle-mounted control subsystem and a maintenance car video monitoring subsystem, the communication system comprises a vehicle-mounted 5G configuration mobile data module, the maintenance car central control intelligent management platform is connected with the vehicle-mounted 5G configuration mobile data module through an operator network for data exchange with the maintenance car vehicle-mounted system, the maintenance car video monitoring subsystem is one of functional systems of the bridge maintenance car, the maintenance car vehicle-mounted control subsystem is formed by the cooperation of a maintenance car vehicle-mounted control hardware system and a maintenance car vehicle-mounted control software system, the maintenance car vehicle-mounted control hardware system is formed by a maintenance car automatic control module, a maintenance car spatial position identification module, a maintenance car running state monitoring module and a data storage module, and the automatic control module of the maintenance vehicle, the spatial position identification module of the maintenance vehicle, the running state monitoring module of the maintenance vehicle and the data storage module cooperate with each other.
The automatic control module of the maintenance vehicle comprises a driving motor controller and a control panel, the space position identification module of the maintenance vehicle comprises absolute position identification and relative position identification, the absolute position identification is carried out through signal sensing distance measurement between the vehicle-mounted space position identification module of the maintenance vehicle and a bridge, the relative position identification is carried out through relative position signal sensing distance measurement between the vehicle-mounted space position identification modules of the maintenance vehicle, the operation state monitoring module of the maintenance vehicle comprises a lithium battery BMS module, an optical encoder and a vector sensor, keys, an indicator lamp and a touch screen are distributed on the control panel, the keys and the indicator lamp are connected with an I/O module, the keys and the indicator lamp are connected to a vehicle-mounted control hardware system of the maintenance vehicle through the I/O module and a vehicle-mounted control software system of the maintenance vehicle, and a signal end and the touch screen of the vehicle-mounted control software system of the maintenance vehicle are connected, the drive motor controller, the lithium battery BMS module and the optical encoder are connected to a vehicle-mounted control hardware system of the maintenance vehicle through a vehicle-mounted control software system of the maintenance vehicle, the vehicle-mounted control hardware system of the maintenance vehicle is connected with a switch, a vehicle-mounted 5G configuration mobile data module in the vehicle-mounted control hardware system of the maintenance vehicle passes through a switch synchronous signal, the vector sensor comprises a speed sensor, an inclination sensor and an orientation sensor, the speed sensor, the inclination sensor and the orientation sensor work cooperatively, the speed sensor is a photoelectric incremental rotary encoder of E6B2-CWZ6C model, the inclination sensor is an angle sensor of SW-520D model, and the orientation sensor is a gyroscope sensor of model M51.
In the invention, the maintenance vehicle-mounted system comprises a hardware system, a software system and a plurality of functional subsystems.
The maintenance vehicle-mounted control hardware system is a control and information acquisition node of an maintenance vehicle informatization system and mainly has four functions of maintenance vehicle hardware automatic control, maintenance vehicle space position identification, maintenance vehicle running state automatic monitoring, data interface processing and the like.
The function diagram of the control system of the inspection vehicle is shown in figure 1.
The maintenance vehicle control subsystem is composed of a main controller, various sensors, an encoder, other auxiliary circuits and peripheral circuits, and mainly completes automatic control and state monitoring of the maintenance vehicle. The system constitutes a schematic diagram as shown in fig. 2.
The maintenance vehicle-mounted control software system is matched with all functions of the maintenance vehicle-mounted control hardware system, provides an interaction and management interface for an operator, and realizes control over functions of the maintenance vehicle-mounted system.
And displaying an operation main interface of the maintenance vehicle-mounted control software system, managing and realizing control over functions of the maintenance vehicle-mounted system, and realizing all functions of a maintenance vehicle-mounted control hardware system in a matching manner. And when the system starts the polling task, entering a polling task operation interface of vehicle-mounted control software of the maintenance vehicle. The inspection vehicle-mounted control software inspection task operation interface display diagram takes an off-beam inspection vehicle as an example and displays important information such as 4-picture monitoring of a video camera, inspection task management, vehicle information, inspection keyword management and the like.
When the system takes a candid photograph of suspected bridge health problem videos or overhaul requirement photos or video recordings in the polling task, the system automatically completes storage and uploading of relevant information, automatically and quickly stores the relevant information in a hard disk video recorder of vehicle-mounted system hardware, and automatically completes uploading and reporting of the information through a communication system. After the storage and uploading of the related information are automatically completed, if the related maintenance and checking tasks are to be completed through the maintenance vehicle, the maintenance vehicle can automatically reproduce the stored maintenance position, and remind an operator (such as a riding operator or a remote operator in a central control room) in a flashing and sound mode.
When the maintenance vehicle starts to overhaul tasks, a green frame is displayed around the picture to indicate that the maintenance is finished in an overhaul list interface display picture of the on-board control software of the maintenance vehicle, and a red frame indicates to-be-overhauled or to check the audit tasks. When a certain maintenance and rechecking task is started, the maintenance and rechecking task operation interface of the vehicle-mounted control software of the maintenance vehicle is displayed.
In the scheme of the system, the state detection of all detection vehicles can be realized in the central control software, and the state detection comprises the vehicle number, the running state, the position information, the electric quantity information, the fault information and the like of each detection vehicle.
In the process of monitoring the collected images of the running maintenance vehicle, if the real-time video cannot be watched under the influence of the mobile communication intensity, or in a scene with low real-time monitoring requirement, the picture monitoring mode can be selected. After the monitoring points are configured with the snap-shot plan, the image quality, the snap-shot interval and the snap-shot plan template, the monitoring points automatically store the acquired pictures in the picture server, and a user opens the monitoring picture of the monitoring points, namely, the latest snap-shot picture is acquired.
The communication system is mainly used for connecting a key system at the front end of the maintenance vehicle-mounted system and the rear end of the maintenance vehicle central control intelligent management platform through 5G communication and is mainly responsible for data exchange and communication between software and hardware of the maintenance vehicle-mounted system and between the central control system and the maintenance vehicle-mounted system. The maintenance vehicle is provided with a mobile data module interface, a 4G or 5G module can be configured according to requirements, data exchange is carried out with a rear-end central control room through an operator network, and the reliability of data communication between the vehicle-mounted system and the central control system and between the vehicle-mounted system and the vehicle-mounted system is guaranteed to the greatest extent.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.
Claims (7)
1. The bridge maintenance vehicle control system based on 5G communication comprises a maintenance vehicle-mounted system, a maintenance vehicle central control intelligent management platform and a communication system, and is characterized in that the maintenance vehicle-mounted system comprises a maintenance vehicle-mounted control subsystem and a maintenance vehicle video monitoring subsystem, the communication system comprises a vehicle-mounted 5G configuration mobile data module, the maintenance vehicle central control intelligent management platform is connected with the vehicle-mounted 5G configuration mobile data module through an operator network to exchange data with the maintenance vehicle-mounted system, the maintenance vehicle video monitoring subsystem is one of functional systems of the bridge maintenance vehicle, the maintenance vehicle-mounted control subsystem is formed by the cooperation of two parts, namely a maintenance vehicle-mounted control hardware system and a maintenance vehicle-mounted control software system, and the maintenance vehicle-mounted control hardware system is formed by an automatic maintenance vehicle control module, a maintenance vehicle spatial position identification module and a communication system, The maintenance vehicle operation state monitoring module and the data storage module are combined, and the maintenance vehicle automatic control module, the maintenance vehicle space position identification module, the maintenance vehicle operation state monitoring module and the data storage module work in cooperation with one another.
2. The bridge inspection vehicle control system based on 5G communication of claim 1, wherein the automatic control module of the inspection vehicle comprises a driving motor controller and a control panel.
3. The bridge maintenance vehicle control system based on 5G communication according to claim 1, wherein the maintenance vehicle spatial position identification module comprises absolute position identification and relative position identification, the absolute position identification is used for distance measurement through signal sensing between the maintenance vehicle spatial position identification module and the bridge, and the relative position identification is used for distance measurement through relative position signal sensing between the maintenance vehicle spatial position identification modules.
4. The bridge inspection vehicle control system based on 5G communication of claim 1, wherein the inspection vehicle operation state monitoring module comprises a lithium battery BMS module, an optical encoder and a vector sensor.
5. The bridge maintenance vehicle control system based on 5G communication according to claim 2, wherein keys, indicator lamps and touch screens are distributed on the control panel, the keys and the indicator lamps are connected with I/O modules, the keys and the indicator lamps are connected to a maintenance vehicle-mounted control hardware system through the I/O modules and a maintenance vehicle-mounted control software system, and a signal end of the maintenance vehicle-mounted control software system is connected with the touch screens.
6. The bridge maintenance vehicle control system based on 5G communication according to claim 5, wherein the driving motor controller, the lithium battery BMS module and the optical encoder are connected to a maintenance vehicle-mounted control hardware system through a maintenance vehicle-mounted control software system, the maintenance vehicle-mounted control hardware system is connected with a switch, and a vehicle-mounted 5G configuration mobile data module in the maintenance vehicle-mounted control hardware system synchronizes signals through the switch.
7. The bridge inspection vehicle control system based on 5G communication of claim 4, wherein the vector sensor comprises a speed sensor, an inclination sensor and an orientation sensor, and the speed sensor, the inclination sensor and the orientation sensor work cooperatively.
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| CN202011239985.5A CN112346385A (en) | 2020-11-09 | 2020-11-09 | Bridge maintenance car control system based on 5G communication |
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| CN202011239985.5A CN112346385A (en) | 2020-11-09 | 2020-11-09 | Bridge maintenance car control system based on 5G communication |
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| CN210653094U (en) * | 2019-07-05 | 2020-06-02 | 上海宏英智能科技有限公司 | Electrical control system of railway maintenance car |
| CN111562220A (en) * | 2020-06-02 | 2020-08-21 | 吉林大学 | Rapid and intelligent detection method for bridge diseases |
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2020
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Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN101937214A (en) * | 2010-07-13 | 2011-01-05 | 中交公路规划设计院有限公司 | Industrial Ethernet based monitoring system of sea-crossing suspension bridge |
| CN206346111U (en) * | 2016-12-14 | 2017-07-21 | 广东玛西尔电动科技有限公司 | A kind of bridge inspection car electric control system |
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