CN113375951A - System and method for detecting working state of unmanned vehicle - Google Patents
System and method for detecting working state of unmanned vehicle Download PDFInfo
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- CN113375951A CN113375951A CN202110469318.4A CN202110469318A CN113375951A CN 113375951 A CN113375951 A CN 113375951A CN 202110469318 A CN202110469318 A CN 202110469318A CN 113375951 A CN113375951 A CN 113375951A
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- 229910000831 Steel Inorganic materials 0.000 claims abstract description 32
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- 238000001514 detection method Methods 0.000 claims abstract description 24
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
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- G01M99/005—Testing of complete machines, e.g. washing-machines or mobile phones
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Abstract
The invention provides a system and a method for detecting the working state of unmanned vehicles, wherein the detection system comprises: the guide rails are arranged up and down; the first sliding part and the second sliding part are arranged on the guide rail; the elastic piece is used for obstructing the approach of the first sliding piece and the second sliding piece; the measuring device is used for measuring a parameter K corresponding to the distance between the guide rail and the steel cable of the unmanned travelling vehicle; the steel cable of the unmanned crane is clamped between the first pulley and the second pulley; the first sliding part is respectively connected with the first pulley and the second pulley through a connecting rod, and the second sliding part is respectively connected with the first pulley and the second pulley through the connecting rod; and the comparison device is used for comparing the parameter K with a threshold value thereof so as to obtain the working state of the unmanned vehicle. The invention has the advantages of high accuracy and the like.
Description
Technical Field
The invention relates to unmanned driving, in particular to a system and a method for detecting the working state of the unmanned driving.
Background
The unmanned travelling crane and the clamp or the grab bucket are connected and driven mainly by a steel cable, the clamp or the grab bucket is generally hung below the travelling crane by the steel cable, and the weight of the clamp or the grab bucket is between several tons and dozens of tons. The weight of the object to be lifted is between several tons and dozens of tons, so that the steel cable is weighed greatly, and if the steel cable is disconnected, the travelling crane needs to be controlled immediately to stop, so that a major accident is avoided. At present, the device mainly depends on human eyes to observe, and no device capable of automatically detecting the disconnection of the steel cable exists.
Disclosure of Invention
In order to overcome the defects in the prior art, the invention provides a detection system for the working state of unmanned vehicles.
The purpose of the invention is realized by the following technical scheme:
unmanned vehicle operation state's detecting system, unmanned vehicle operation state's detecting system includes:
the guide rail is arranged up and down;
a first slider and a second slider provided on the guide rail;
an elastic member for obstructing access of the first and second sliders;
a measuring device for measuring a parameter K corresponding to a distance between the guide rail and a wire rope of the unmanned aerial vehicle;
a first pulley and a second pulley between which a wire rope of the unmanned aerial vehicle is sandwiched;
the first sliding part is respectively connected with the first pulley and the second pulley through the connecting rod, and the second sliding part is respectively connected with the first pulley and the second pulley through the connecting rod;
comparison means for comparing said parameter K with a threshold value thereof, K1Is a first threshold value, K2Is a second threshold value;
if K is in a first range, the first range includes K1The steel cable of the unmanned travelling crane is in a normal working state;
if K is at K1And K2The range in between indicates that the wire rope of the unmanned crane is slack at the moment;
if K is in a second range, the second range includes K2And the result shows that the steel cable of the unmanned crane is disconnected.
Another object of the present invention is to provide a method for detecting an unmanned vehicle operating state by using the system for detecting an unmanned vehicle operating state, which is implemented by the following technical solutions:
according to the detection method of the unmanned driving working state of the detection system of the unmanned driving working state, the detection method of the unmanned driving working state comprises the following steps:
the detection system moves horizontally along with the unmanned vehicle;
when the steel cable of the unmanned travelling crane hoists an object, the distance measuring device obtains a parameter K corresponding to the distance between the guide rail and the steel cable of the unmanned travelling crane;
comparing the parameter K with a threshold value, K1Is a first threshold value, K2Is a second threshold value;
if K is in a first range, the first range includes K1The steel cable of the unmanned travelling crane is in a normal working state;
if K is at K1And K2The range in between indicates that the wire rope of the unmanned crane is slack at the moment;
if K is in a second range, the second range includes K2And the result shows that the steel cable of the unmanned crane is disconnected.
Compared with the prior art, the invention has the beneficial effects that:
1. the detection is accurate;
the working state of the unmanned traveling crane, such as the normal tightening state, the loosening state and the breaking state of a steel cable, can be accurately obtained through comparison by using the obtained parameters, such as distance, angle and the like, comparison and the set threshold value without human eye identification;
2. the structure is simple;
the unmanned vehicle is provided with the guide rail, the elastic piece, the sliding piece, the pulley, the measuring device and the comparison device, and the unmanned vehicle has the advantages of simple structure, small volume and low cost.
Drawings
The disclosure of the present invention will become more readily understood with reference to the accompanying drawings. As is readily understood by those skilled in the art: these drawings are only for illustrating the technical solutions of the present invention and are not intended to limit the scope of the present invention. In the figure:
fig. 1 is a schematic structural diagram of a system for detecting an operating state of an unmanned aerial vehicle according to an embodiment of the present invention.
Detailed Description
Fig. 1 and the following description depict alternative embodiments of the invention to teach those skilled in the art how to make and reproduce the invention. Some conventional aspects have been simplified or omitted for the purpose of explaining the technical solution of the present invention. Those skilled in the art will appreciate that variations or substitutions from these embodiments will be within the scope of the invention. Those skilled in the art will appreciate that the features described below can be combined in various ways to form multiple variations of the invention. Thus, the present invention is not limited to the following alternative embodiments, but is only limited by the claims and their equivalents.
Example 1:
fig. 1 is a schematic structural diagram of a system for detecting an operating state of an unmanned aerial vehicle according to an embodiment of the present invention, and as shown in fig. 1, the system for detecting an operating state of an unmanned aerial vehicle includes:
the guide rail 11 is arranged up and down;
a first slide 21 and a second slide 22, said first slide 21 and second slide 22 being arranged on said guide rail 11, freely sliding along said guide rail 11;
an elastic member for obstructing the approach of the first slider 21 and the second slider 22;
a measuring device 31, said measuring device 31 being adapted to measure a parameter K, such as distance, angle, corresponding to the distance between said guide rail 11 and a wire rope 71 of an unmanned vehicle;
a first pulley 51 and a second pulley 52, the wire rope 71 of the unmanned aerial vehicle being sandwiched between the first pulley 51 and the second pulley 52;
connecting rods 61-64, the first slide 21 is connected with the first pulley 51 and the second pulley 52 through connecting rods 61, 63, respectively, and the second slide 22 is connected with the first pulley 51 and the second pulley 52 through connecting rods 62, 64, respectively;
comparison means for comparing said parameter K with a threshold value thereof, K1Is a first threshold value, K2Is a second threshold value;
if K is in a first range, the first range includes K1At this time, it is described that wire rope 71 is tightened, and the distance between wire rope 71 and guide rail 11 is small, that is, wire rope 71 of the unmanned vehicle is in a normal working state;
if K is at K1And K2The range therebetween indicates that the wire rope 71 is slack, and if the grab bucket connected to the bottom end of the wire rope 71 touches the bottom, the wire rope 71 is in slack, and the distance between the wire rope 71 and the guide rail 11 is larger, which indicates that the wire rope 71 of the unmanned vehicle is slack;
if K is in a second range, the second range includes K2When the wire rope 71 is broken, the first slider 21 and the second slider 22 move away under the action of the elastic element, and the first pulley 51 and the second pulley 52 drive the wire rope 71 to approach the guide rail, which indicates that the wire rope 71 of the unmanned vehicle is broken.
In order to make the guide rail 11 move with the steel cable 71 in a translation way, further, the unmanned vehicle working state detection system further comprises:
the platform, the platform with unmanned driving is relative static, guide rail 11 sets up vertically on the platform.
In order to accurately obtain the parameters, the connecting rod is movably connected with the pulley and the sliding part.
In order to hug wire rope 71 to accurately obtain the parameters, further, first pulley 51 and second pulley 52 have grooves allowing wire rope 71 to be caught, respectively, the depth of the grooves being not more than the radius of wire rope 71.
The method for detecting the working state of the unmanned vehicle in the embodiment of the invention, that is, the working method of the detection system in the embodiment of the invention, comprises the following steps:
the detection system moves horizontally along with the unmanned vehicle;
when the steel cable 71 of the unmanned travelling crane hoists an object, the distance measuring device 31 obtains a parameter K corresponding to the distance between the guide rail 11 and the steel cable 71 of the unmanned travelling crane;
comparing the parameter K with a threshold value, K1Is a first threshold value, K2Is a second threshold value;
if K is in a first range, the first range includes K1The result shows that the steel cable 71 of the unmanned vehicle is in a normal working state;
if K is at K1And K2The range in between, indicating that the wire rope 71 of the unmanned vehicle is slack at this time;
if K is in a second range, the second range includes K2Indicating that the wire rope 71 of the unmanned vehicle is disconnected.
Example 2:
the application example of the system and the method for detecting the working state of the unmanned aerial vehicle in the embodiment 1 of the invention is disclosed.
In this application example, as shown in fig. 1, the platform is relatively stationary with the unmanned vehicle, i.e. the platform translates with the unmanned vehicle, and the guide rail 11 is vertically arranged on the platform, parallel to the tightened steel cable 71; the hard connecting rods 61-64 are movably connected with the pulleys and the sliding parts; first pulley 51 and second pulley 52 each have a groove allowing wire rope 71 to be caught, the depth of the groove being not more than the radius of wire rope 71, thereby clasping wire rope 71;
the elastic piece comprises a first spring 41 and a second spring 42, the first spring 41, the first slider 21, the second slider 22 and the second spring 42 are sequentially arranged on the guide rail 11, one end of the first spring 41 is fixed with the first slider 21, the other end (the end far away from the first slider) is limited, for example, fixed, one end of the second spring 42 is fixed with the second slider 22, the other end (the end far away from the second slider) is limited, for example, fixed, so that when the distance between the steel cable 71 and the guide rail 11 is increased, the first spring 41 and the second spring 42 are stretched (the deformation amount is increased), the distance between the first slider 21 and the second slider 22 is decreased, and the included angle between the connecting rod 61-64 and the guide rail 11 is increased;
the measuring device 31 is a distance measuring device for measuring the distance between the first and second slides 21 and 22 (i.e., the parameter K), or the distance between the guide rail 11 and the first or second pulley 51 or 52 (i.e., the parameter K);
the first range is not more than K1Example (A) ofGo round, K1A second range of not less than K being a minimum threshold value of distance2Range of (1), K2The minimum threshold and the maximum threshold may be obtained by theoretical calculation or experiment, which is the maximum threshold of the distance.
The method for detecting the working state of the unmanned vehicle in the embodiment of the invention, that is, the working method of the detection system in the embodiment of the invention, comprises the following steps:
the detection system moves horizontally along with the unmanned vehicle;
when the steel cable 71 of the unmanned travelling crane hoists an object, the distance measuring device 31 obtains a parameter K corresponding to the distance between the guide rail 11 and the steel cable 71 of the unmanned travelling crane;
comparing the parameter K with a threshold value, K1Is a minimum threshold value of distance, K2Is the maximum threshold for distance;
if K is in the first range, the first range is not more than K1The range of (1), which indicates that the steel cable 71 of the unmanned traveling vehicle is in a normal working state and in a tightened state;
if K is at K1And K2The range in between, indicating that the wire rope 71 of the unmanned vehicle is slack at this time;
if K is in the second range, the second range is not less than K2Indicating that the wire rope 71 of the unmanned vehicle is disconnected.
Example 3:
according to the application example of the unmanned vehicle running working state detection system and method of the embodiment 1 of the invention, the difference from the embodiment 2 is that:
the measuring device is an angle measuring device and is used for obtaining an included angle (parameter K) between connecting rods connected with the first pulley or the second pulley, such as an included angle between the connecting rods 61 and 62 and an included angle between the connecting rods 63 and 64; the first range is not more than K1Range of (1), K1A second range of not less than K being a minimum threshold value of the angle2Range of (1), K2Is the maximum threshold for the angle.
Example 4:
according to the application example of the unmanned vehicle running working state detection system and method of the embodiment 1 of the invention, the difference from the embodiment 2 is that:
the elastic piece comprises a spring, the first sliding piece, the spring and the second sliding piece are sequentially arranged on the guide rail, namely the spring is positioned between the first sliding piece and the second sliding piece, and two ends of the spring are fixedly connected with the sliding pieces or are not connected with the sliding pieces.
Example 5:
according to the application example of the unmanned vehicle running working state detection system and method of the embodiment 1 of the invention, the difference from the embodiment 2 is that:
the measuring device is a distance measuring device and is used for obtaining the distance between two ends of the elastic member (the first spring and/or the second spring), namely the length of the spring; the first range is not less than K2Range of (1), K2The second range is not greater than K, which is the maximum threshold of distance1Range of (1), K1Is the minimum threshold for distance.
The method for detecting the working state of the unmanned vehicle in the embodiment of the invention, that is, the working method of the detection system in the embodiment of the invention, comprises the following steps:
the detection system moves horizontally along with the unmanned vehicle;
when the steel cable of the unmanned travelling crane hoists an object, the distance measuring device obtains a parameter K corresponding to the distance between the guide rail and the steel cable of the unmanned travelling crane;
comparing the parameter K with a threshold value, K1Is the maximum threshold value of the distance, K2Is a minimum threshold for distance;
if K is in the first range, the first range is not less than K1The range of (1) indicates that the steel cable of the unmanned traveling crane is in a normal working state and in a tightened state;
if K is at K1And K2The range in between indicates that the wire rope of the unmanned crane is slack at the moment;
if K is in the second range, the second range is not greater than K2Indicating a wire rope break of the unmanned vehicle.
Example 6:
according to the application example of the unmanned vehicle running working state detection system and method of the embodiment 1 of the invention, the difference from the embodiment 5 is that:
the measuring device is a distance measuring device and is used for obtaining the deformation quantity of the elastic part (the first spring and/or the second spring), namely the variation quantity of the distance between two ends when the spring is deformed and the variation quantity of the distance between two ends when the spring is not deformed.
Claims (10)
1. Unmanned vehicle operation status's detecting system, its characterized in that, unmanned vehicle operation status's detecting system includes:
the guide rail is arranged up and down;
a first slider and a second slider provided on the guide rail;
an elastic member for obstructing access of the first and second sliders;
a measuring device for measuring a parameter K corresponding to a distance between the guide rail and a wire rope of the unmanned aerial vehicle;
a first pulley and a second pulley between which a wire rope of the unmanned aerial vehicle is sandwiched;
the first sliding part is respectively connected with the first pulley and the second pulley through the connecting rod, and the second sliding part is respectively connected with the first pulley and the second pulley through the connecting rod;
comparison means for comparing said parameter K with a threshold value thereof, K1Is a first threshold value, K2Is a second threshold value;
if K is in a first range, the first range includes K1The steel cable of the unmanned travelling crane is in a normal working state;
if K is at K1And K2The range in between indicates that the wire rope of the unmanned crane is slack at the moment;
if K is in a second range, the second range includes K2And the result shows that the steel cable of the unmanned crane is disconnected.
2. The unmanned vehicle driving working state detection system according to claim 1, wherein the elastic member comprises a first spring and a second spring, the first spring, a first sliding member, a second sliding member and the second spring are sequentially arranged on the guide rail, one end of the first spring, which is far away from the first sliding member, is limited, and one end of the second spring, which is far away from the second sliding member, is limited.
3. The system for detecting the working state of the unmanned aerial vehicle according to claim 1, wherein the elastic member comprises a spring, and the first sliding member, the spring and the second sliding member are sequentially disposed on the guide rail.
4. A detection system of unmanned vehicle operation status according to claim 1, 2 or 3, wherein the measuring device is a distance measuring device; the parameter is the distance between the first sliding part and the second sliding part, or the distance between the guide rail and the first pulley or the second pulley; the first range is not more than K1，K1A second range of not less than K being a minimum threshold value of distance2，K2Is the maximum threshold for distance.
5. The unmanned vehicular traffic state detection system according to claim 1, wherein the measuring device is an angle measuring device; the parameter is an included angle between connecting rods connected with the first pulley or the second pulley; the first range is not more than K1Range of (1), K1A second range of not less than K being a minimum threshold value of the angle2Range of (1), K2Is the maximum threshold for the angle.
6. The system for detecting the working state of an unmanned aerial vehicle according to claim 2, wherein the measuring device is a distance measuring device; the parameter is the distance between two ends of the elastic piece; the first range is not less than K2Range of (1), K2The second range is not greater than K, which is the maximum threshold of distance1Range of (1), K1Is a minimum threshold value of distance。
7. The system for detecting the working state of the unmanned aerial vehicle according to claim 1, further comprising:
the platform, the platform with unmanned driving is static relatively, the guide rail sets up vertically on the platform.
8. The system for detecting the working condition of the unmanned aerial vehicle as claimed in claim 1, wherein the connecting rod is movably connected with the pulley and the sliding member.
9. The unmanned vehicle operation state detection system of claim 1, wherein the first pulley and the second pulley each have a groove for allowing a wire rope to be caught, and a depth of the groove is not more than a radius of the wire rope.
10. The method for detecting the working state of the unmanned aerial vehicle of the detection system according to any one of claims 1 to 9, wherein the method for detecting the working state of the unmanned aerial vehicle comprises the following steps:
the detection system moves horizontally along with the unmanned vehicle;
when the steel cable of the unmanned travelling crane hoists an object, the distance measuring device obtains a parameter K corresponding to the distance between the guide rail and the steel cable of the unmanned travelling crane;
comparing the parameter K with a threshold value, K1Is a first threshold value, K2Is a second threshold value;
if K is in a first range, the first range includes K1The steel cable of the unmanned travelling crane is in a normal working state;
if K is at K1And K2The range in between indicates that the wire rope of the unmanned crane is slack at the moment;
if K is in a second range, the second range includes K2And the result shows that the steel cable of the unmanned crane is disconnected.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110469318.4A CN113375951A (en) | 2021-04-28 | 2021-04-28 | System and method for detecting working state of unmanned vehicle |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110469318.4A CN113375951A (en) | 2021-04-28 | 2021-04-28 | System and method for detecting working state of unmanned vehicle |
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2021
- 2021-04-28 CN CN202110469318.4A patent/CN113375951A/en active Pending
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| JPH01292231A (en) * | 1988-05-19 | 1989-11-24 | Hitachi Cable Ltd | Lead part bending strength tester of lead frame for semiconductor device |
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