CN113685119B - Intelligent movement formula shield door protection system based on 3D vision - Google Patents
Intelligent movement formula shield door protection system based on 3D vision Download PDFInfo
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- CN113685119B CN113685119B CN202111026739.6A CN202111026739A CN113685119B CN 113685119 B CN113685119 B CN 113685119B CN 202111026739 A CN202111026739 A CN 202111026739A CN 113685119 B CN113685119 B CN 113685119B
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- 239000011521 glass Substances 0.000 claims abstract description 50
- 230000007246 mechanism Effects 0.000 claims description 58
- 238000003780 insertion Methods 0.000 claims description 5
- 230000037431 insertion Effects 0.000 claims description 5
- 238000003466 welding Methods 0.000 claims description 4
- 238000000034 method Methods 0.000 abstract description 4
- 230000009286 beneficial effect Effects 0.000 abstract description 3
- 230000008901 benefit Effects 0.000 abstract description 3
- 239000004973 liquid crystal related substance Substances 0.000 description 5
- 238000010276 construction Methods 0.000 description 3
- 238000009434 installation Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 2
- 235000008331 Pinus X rigitaeda Nutrition 0.000 description 1
- 235000011613 Pinus brutia Nutrition 0.000 description 1
- 241000018646 Pinus brutia Species 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000008451 emotion Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000009347 mechanical transmission Effects 0.000 description 1
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Classifications
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- E—FIXED CONSTRUCTIONS
- E06—DOORS, WINDOWS, SHUTTERS, OR ROLLER BLINDS IN GENERAL; LADDERS
- E06B—FIXED OR MOVABLE CLOSURES FOR OPENINGS IN BUILDINGS, VEHICLES, FENCES OR LIKE ENCLOSURES IN GENERAL, e.g. DOORS, WINDOWS, BLINDS, GATES
- E06B3/00—Window sashes, door leaves, or like elements for closing wall or like openings; Layout of fixed or moving closures, e.g. windows in wall or like openings; Features of rigidly-mounted outer frames relating to the mounting of wing frames
- E06B3/32—Arrangements of wings characterised by the manner of movement; Arrangements of movable wings in openings; Features of wings or frames relating solely to the manner of movement of the wing
- E06B3/34—Arrangements of wings characterised by the manner of movement; Arrangements of movable wings in openings; Features of wings or frames relating solely to the manner of movement of the wing with only one kind of movement
- E06B3/42—Sliding wings; Details of frames with respect to guiding
- E06B3/46—Horizontally-sliding wings
- E06B3/4636—Horizontally-sliding wings for doors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61B—RAILWAY SYSTEMS; EQUIPMENT THEREFOR NOT OTHERWISE PROVIDED FOR
- B61B1/00—General arrangement of stations, platforms, or sidings; Railway networks; Rail vehicle marshalling systems
- B61B1/02—General arrangement of stations and platforms including protection devices for the passengers
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- E—FIXED CONSTRUCTIONS
- E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
- E05F—DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION; CHECKS FOR WINGS; WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
- E05F15/00—Power-operated mechanisms for wings
- E05F15/40—Safety devices, e.g. detection of obstructions or end positions
- E05F15/42—Detection using safety edges
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- E—FIXED CONSTRUCTIONS
- E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
- E05F—DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION; CHECKS FOR WINGS; WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
- E05F15/00—Power-operated mechanisms for wings
- E05F15/60—Power-operated mechanisms for wings using electrical actuators
- E05F15/603—Power-operated mechanisms for wings using electrical actuators using rotary electromotors
- E05F15/632—Power-operated mechanisms for wings using electrical actuators using rotary electromotors for horizontally-sliding wings
- E05F15/635—Power-operated mechanisms for wings using electrical actuators using rotary electromotors for horizontally-sliding wings operated by push-pull mechanisms, e.g. flexible or rigid rack-and-pinion arrangements
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- E—FIXED CONSTRUCTIONS
- E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
- E05F—DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION; CHECKS FOR WINGS; WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
- E05F17/00—Special devices for shifting a plurality of wings operated simultaneously
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- E—FIXED CONSTRUCTIONS
- E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
- E05F—DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION; CHECKS FOR WINGS; WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
- E05F17/00—Special devices for shifting a plurality of wings operated simultaneously
- E05F2017/005—Special devices for shifting a plurality of wings operated simultaneously for sliding wings
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- E—FIXED CONSTRUCTIONS
- E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
- E05Y—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES E05D AND E05F, RELATING TO CONSTRUCTION ELEMENTS, ELECTRIC CONTROL, POWER SUPPLY, POWER SIGNAL OR TRANSMISSION, USER INTERFACES, MOUNTING OR COUPLING, DETAILS, ACCESSORIES, AUXILIARY OPERATIONS NOT OTHERWISE PROVIDED FOR, APPLICATION THEREOF
- E05Y2900/00—Application of doors, windows, wings or fittings thereof
- E05Y2900/40—Application of doors, windows, wings or fittings thereof for gates
- E05Y2900/404—Application of doors, windows, wings or fittings thereof for gates for railway platform gates
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Power-Operated Mechanisms For Wings (AREA)
Abstract
The invention discloses an intelligent mobile shielding door protection system based on 3D vision, relates to the technical field of subway rail shielding doors, and solves the problems that automatic plugging and loosening control is realized by matching a sensor with an automatic electric control device, the purchasing cost is high, and the market competitiveness of a shielding door device is not favorably improved in most plugging positioning pieces of the existing shielding door. The intelligent mobile shielding door protection system based on the 3D vision comprises a door frame; the door frame includes fence net and semicircle track axle, the whole rectangular structure that is of door frame, the symmetry protrusion is provided with two semicircle track axles on its upper and lower curb plate, and the door frame is provided with two prescription shape fence nets on the left and right halves part symmetry, and the glass door slides and is located the interval space between this two fence nets. Compared with the traditional method that the sensor is adopted and an automatic electric control device is matched to automatically control the inserting and positioning piece of the glass door, the automatic control device has the obvious cost advantage and is beneficial to improving the market competitiveness of the whole equipment.
Description
Technical Field
The invention relates to the technical field of subway rail shielded doors, in particular to an intelligent movable shielded door protection system based on 3D vision.
Background
With the rapid development of urban basic construction in China, urban rail transit is also rapidly developed synchronously, particularly subway construction of large and medium-sized cities in China is rapidly developed in recent years, and more than twenty cities in China are under construction or subway expansion projects are currently developed. The subway screen door is a high-tech product integrating the subjects of building, machinery, materials, electronics, information and the like, and is used for subway platforms. The platform and the train running area are separated by the shielding door, and the automatic opening of the shielding door is controlled by the control system.
For example, patent No. CN201911079268.8 discloses a subway shield door, which includes: the liquid crystal advertising board comprises a door frame, a sliding door leaf and a fixed door leaf, wherein a route indicating meter is arranged above the sliding door leaf on the door frame, a first liquid crystal advertising board is arranged in the sliding door leaf, and a second liquid crystal advertising board is arranged in the fixed door leaf. According to the subway shield door, the liquid crystal advertising boards are respectively arranged on the sliding door leaf and the fixed door leaf, the passenger flow of a subway waiting channel is large, and the liquid crystal advertising boards can display advertising information of some advertisers, so that a good advertising effect can be achieved.
The relatively poor personnel that are out of control by mistake train number emotion easily of the relatively poor stability that causes the door body when closing of the not enough reasonable setting element optimal design of pegging graft of current shield door pull open by force and cause the incident, and the grafting setting element of shield door adopts the automatic automatically controlled device of sensor cooperation to realize automatic the control of taking out and inserting pine to take off, and the sensor is joined in marriage, the purchasing cost of automatic automatically controlled device is higher, is unfavorable for promoting the market competition of shield door device.
Disclosure of Invention
The invention aims to provide an intelligent mobile shielding door protection system based on 3D vision, and aims to solve the problems that in the background technology, sensors are mostly adopted to cooperate with automatic electric control devices to realize automatic plugging and loosening control, the purchasing cost of the sensors and the automatic electric control devices is high, and the market competitiveness of a shielding door device is not favorably improved.
In order to achieve the purpose, the invention provides the following technical scheme: the intelligent mobile shielding door protection system based on the 3D vision comprises a door frame; the door frame comprises fence nets and semicircular track shafts, the whole door frame is of a long rectangular structure, two semicircular track shafts are symmetrically and convexly arranged on upper and lower side plates of the door frame, two glass doors are oppositely and slidably arranged on the semicircular track shafts, two prescription-shaped fence nets are symmetrically arranged on the left and right halves of the door frame, and the glass doors are slidably positioned in a space between the two fence nets; the door frame further comprises a 3D scanner, and the rear side of the middle section of the door frame is provided with the 3D scanner in a locking mode; the door frame also comprises a cross bracing rail rod which is welded on the top end of the door frame in a supporting way; the top end of the middle section of the door frame is upwards supported, locked and provided with a motor, and a rotating shaft of the motor is sleeved with a driving gear;
a glass door; two driving mechanisms are oppositely arranged on the opposite side vertex angles of the two glass doors; the front side of the middle position of the left half section of the side plate at the top end of the door frame is supported and welded with an F-shaped mounting rack, and the top end of the right half section of the side plate at the top end of the door frame is also supported and welded with an F-shaped mounting rack upwards; the bevel edges at two sides of the two trapezoidal top frames slide left and right along with the two racks and are in sliding and pushing contact with the two guide wheels.
Preferably, the upper and lower outer frames of the two glass doors are both provided with a concave track groove, and the two track grooves are correspondingly matched with the two semicircular track shafts in a sliding manner.
Preferably, the F-shaped mounting rack comprises positioning plug-ins, the two positioning plug-ins are inserted into the two F-shaped mounting racks through spring pushing, and the F-shaped mounting rack is formed by welding an upper long plug-in rod, a short plug-in rod and vertical support short shafts at the tail ends of the two plug-in rods.
Preferably, the F-shaped mounting frame further comprises a guide wheel, a longitudinal support plate is welded to the top end of the vertical support short shaft, and a guide wheel is rotatably mounted on the head end section of the longitudinal support plate.
Preferably, the driving mechanism comprises a positioning shaft, the two main bodies of the driving mechanism are long supporting rods, an L-shaped supporting rod is fixedly welded at the bottom of the tail end of the long supporting rod of the main body of the left driving mechanism, and the two positioning shafts are symmetrically welded at the head end and the tail end of the long supporting rod.
Preferably, the driving mechanism further comprises racks, two racks are slidably mounted on the four groups of the head and tail ends of the driving mechanism on the positioning shafts, the two racks are in up-and-down correspondence and are in sliding fit with the main strip support rods of the two driving mechanisms, and the two racks are correspondingly in meshing contact with the driving gear on the rotating shaft of the motor.
Preferably, the driving mechanism further comprises
The outer head ends of the two racks are fixedly welded with one trapezoidal top frame, and the two trapezoidal top frames are supported and installed in a front-back opposite direction;
the sliding rings are welded at the tail ends of the long support rods of the driving mechanism main bodies at two positions, the sliding rings at the two positions are correspondingly in sliding fit with the cross-brace track rods, and the long insertion rods of the positioning plug-in units at the two positions are correspondingly in plug-in fit with the tail end sections of the long support rods of the driving mechanism main bodies at the two positions.
Preferably, including 3D scanner, treater, control system and alarm device, including the following flow:
1. the 3D scanner is internally provided with a laser module and a 2D camera and is placed on one side, close to the car door, of the top of the shielding door;
2. acquiring a depth map or a point cloud image in a set area of the shielding door through a 3D scanner and a processor;
3. whether an obstacle exists between the train and the shielding door is judged by comparing the image with a prestored background image;
4. when an obstacle exists between the shield door and the vehicle door, the processor outputs a signal to inform the control device, controls the shield door to be opened and closed and gives an alarm.
Compared with the prior art, the invention has the beneficial effects that:
1. when the two glass doors are closed by sliding oppositely, the two positioning plug-ins can be automatically pushed, plugged and positioned by the two driving mechanisms through the springs on the two positioning plug-ins to enable the two glass doors to be stably kept in a closed state, so that safety accidents caused by the fact that personnel forcibly pull the two glass doors apart with force after losing waiting time are avoided, and the safe operation of a train is influenced;
2. the automatic drawing and inserting control device has the advantages that the driving motors of the sliding switches of the two glass doors are used for carrying out linkage drawing and inserting driving on the inserting positioning pieces of the two glass doors through the ingenious and reasonable mechanical transmission structure, so that the automatic drawing and inserting control on the inserting positioning pieces of the two glass doors is realized, and compared with the traditional method that a sensor is adopted and an automatic electric control device is matched for carrying out automatic control on the inserting positioning pieces of the glass doors, the automatic drawing and inserting control device has obvious cost advantage and is beneficial to improving the overall market competitiveness of equipment;
3. two racks of the invention are connected with two driving mechanisms in a sliding way through four groups of positioning shafts, as shown in figure 3, when two glass doors are closed in a leaning way, the tail ends of the two racks are attached to the tail ends of the two driving mechanisms in a sliding way, at the moment, the four groups of positioning shafts leave two rack reverse sliding strokes, if the two glass doors are opened in a reverse sliding way, the two racks can firstly slide reversely along the vacated strokes, when the two racks slide reversely, the two racks can drive two trapezoidal top frames to abut against and contact with two guide wheel inclined surfaces to drive the two positioning plug-ins to slide, be pulled out and automatically release the two driving mechanisms, so that the two glass doors can be opened normally in a sliding way, and the two positioning plug-ins can be pulled out and driven in a linkage way by the sliding power of the two racks, the plugging driving motor is actually used for indirectly performing plugging driving, the special plugging driving motor for the two positioning plug-ins is saved, and the rotating kinetic energy of the motor is fully used.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic diagram of the rear three-dimensional structure of the present invention;
FIG. 3 is a schematic view of the driving mechanism of the present invention;
FIG. 4 is a schematic three-dimensional structure of the glass door of the present invention;
FIG. 5 is a schematic view of the two positions of the glass door of the present invention in a sliding open state;
FIG. 6 is a schematic view of the left driving mechanism of the present invention;
FIG. 7 is a schematic view of the right side driving mechanism of the present invention;
FIG. 8 is a schematic view of a positioning insert according to the present invention;
FIG. 9 is an enlarged view of portion A of FIG. 2 according to the present invention;
FIG. 10 is an enlarged view of portion B of FIG. 2 according to the present invention;
FIG. 11 is a flow chart of the system of the present invention;
in the drawings, the corresponding relationship between the component names and the reference numbers is as follows:
1. a door frame; 101. a hurdle net; 102. transversely supporting the track rod; 103. a 3D scanner; 104. a motor; 105. a semicircular orbit shaft; 2. a glass door; 3. an F-shaped mounting rack; 301. positioning the plug-in; 302. a guide wheel; 4. a drive mechanism; 401. a trapezoidal top frame; 402. a rack; 403. positioning the shaft; 404. and a slip ring.
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.
Referring to fig. 1 to 11, the present invention provides embodiment 1: the intelligent mobile shielding door protection system based on the 3D vision comprises a door frame 1; the door frame 1 comprises a fence net 101 and a semicircular track shaft 105, the whole door frame 1 is of a long rectangular structure, two semicircular track shafts 105 are symmetrically and convexly arranged on the upper side plate and the lower side plate of the door frame 1, two glass doors 2 are oppositely and slidably arranged on the semicircular track shafts 105, two prescription-shaped fence nets 101 are symmetrically arranged on the left half part and the right half part of the door frame 1, and the glass doors 2 are slidably positioned in a spacing space between the two fence nets 101; the door frame 1 further comprises a 3D scanner 103, and the rear side of the middle section of the door frame 1 is provided with the 3D scanner 103 in a locking manner;
a glass door 2; two driving mechanisms 4 are oppositely arranged on opposite side vertex angles of the two glass doors 2; the upper and lower outer frames of the two glass doors 2 are both provided with a concave track groove, and the two track grooves are correspondingly matched with the two semicircular track shafts 105 in a sliding way;
the front side of the middle position of the left half section of the side plate at the top end of the door frame 1 is supported and welded with an F-shaped mounting frame 3, and the top end of the right half section of the side plate at the top end of the door frame 1 is also supported and welded with an F-shaped mounting frame 3 upwards; the doorframe 1 also comprises a transverse supporting track rod 102, and the transverse supporting track rod 102 is welded on the top end of the doorframe 1 in a supporting way; the top of motor 104, door frame 1 interlude supports upwards to lock and installs a motor 104, and the cover is equipped with a driving gear in this motor 104's the pivot.
Referring to fig. 8,F, the installation frame 3 includes positioning plug-in units 301, two positioning plug-in units 301 are inserted into two F-shaped installation frames 3 by spring pushing, and the F-shaped installation frame 3 is formed by welding two plug-in rods, one long and one short, and two short vertical support shafts at the tail ends of the two plug-in rods, when two glass doors 2 are closed by sliding, the two positioning plug-in units 301 can be automatically pushed by the springs thereon to insert and position two driving mechanisms 4 so as to stably keep the two glass doors 2 in a closed state, thereby avoiding safety accidents caused by the loss of control of passengers and forcefully pulling the two glass doors 2 apart after waiting for a train.
Referring to fig. 8,F, the mounting bracket 3 further includes a guide wheel 302, a longitudinal support plate is welded to the top end of the vertical support short shaft, and a head end section of the longitudinal support plate is rotatably mounted with a guide wheel 302.
Referring to fig. 3, the driving mechanism 4 includes a positioning shaft 403, the main bodies of the two driving mechanisms 4 are a long supporting rod, wherein an L-shaped supporting rod is welded and fixed at the bottom of the tail end of the long supporting rod of the main body of the left driving mechanism 4, and the two positioning shafts 403 are symmetrically welded on the two end sections of the head and the tail of the two long supporting rods.
Referring to fig. 4, the driving mechanism 4 further includes a rack 402, two racks 402 are slidably mounted on four sets of positioning shafts 403 at the head and tail ends of the two driving mechanisms 4, the two racks 402 are in sliding fit with the long stay bars of the main bodies of the two driving mechanisms 4 in an up-and-down manner, and the two racks 402 are in meshing contact with the driving gears on the rotating shafts of the motor 104, through the driving gears, the motor 104 can synchronously mesh to drive the two racks 402, the two driving mechanisms 4 and the two glass doors 2 to slide and open and close in opposite directions, so that the two glass doors 2 can share one motor to drive the sliding switch, and the two glass doors 2 are not separately matched with driving motors.
Referring to fig. 6 and 7, the driving mechanism 4 further includes
The outer front ends of two racks 402 are fixedly welded with one trapezoidal top frame 401, and the two trapezoidal top frames 401 are supported and installed in a front-back opposite direction;
the slip ring 404 is welded at the tail ends of the long support rods of the main bodies of the two driving mechanisms 4, the slip rings 404 are correspondingly matched with the cross-brace track rod 102 in a sliding mode, and the long support rods of the two positioning plug-in units 301 are correspondingly matched with the tail end sections of the long support rods of the main bodies of the two driving mechanisms 4 in an inserting mode.
Referring to fig. 6 and 7, the two side bevel edges of the two trapezoidal top frames 401 slide left and right along with the two racks 402 to be in sliding and pushing contact with the two guide wheels 302, the two racks 402 are in sliding connection with the two driving mechanisms 4 through the four sets of positioning shafts 403, as shown in fig. 3, when the two glass doors 2 are closed in a butt-joint manner, the tail ends of the two racks 402 are in sliding contact with the tail ends of the two driving mechanisms 4, at this time, the four sets of positioning shafts 403 leave the stroke of the two racks 402 for reverse sliding, if the two glass doors 2 are opened by reverse sliding, the two racks 402 will first leave the stroke for reverse sliding, when the two racks 402 slide reversely, the two trapezoidal top frames 401 are driven to abut against and contact with the inclined surfaces of the two guide wheels 302 to drive the two positioning plug-ins 301 to slide, pull and release and automatically release the two driving mechanisms 4, so that the two glass doors 2 can be opened normally in an outward sliding manner, and then the two positioning plug-ins 301 are driven to pull and release by the sliding power linkage of the two racks 402, which substantially indirectly utilizes the kinetic energy of the motor 104 to drive the plug-ins, so that a special matched plug-in driving motor for the two positioning plug-ins 301 is omitted, and the rotation kinetic energy of the motor 104 is fully used.
Referring to fig. 11, the system includes a 3D scanner, a processor, a control system and an alarm device, and includes the following processes:
1. the 3D scanner is internally provided with a laser module and a 2D camera and is placed on one side, close to the car door, of the top of the shielding door;
2. acquiring a depth map or a point cloud image in a set area of the screen door through a 3D scanner and a processor;
3. whether an obstacle exists between the train and the shielding door is judged by comparing the image with a prestored background image;
4. when an obstacle exists between the shield door and the vehicle door, the processor outputs a signal to inform the control device, controls the shield door to be opened and closed and gives an alarm.
Referring to fig. 1 to 11, the present invention provides embodiment 2: the intelligent mobile shielding door protection system based on the 3D vision comprises a door frame 1; the door frame 1 comprises a fence net 101 and a semicircular track shaft 105, the whole door frame 1 is of a long rectangular structure, two semicircular track shafts 105 are symmetrically and convexly arranged on the upper side plate and the lower side plate of the door frame 1, two glass doors 2 are oppositely and slidably arranged on the semicircular track shafts 105, two prescription-shaped fence nets 101 are symmetrically arranged on the left half part and the right half part of the door frame 1, and the glass doors 2 are slidably positioned in a spacing space between the two fence nets 101; the door frame 1 further comprises a 3D scanner 103, and the rear side of the middle section of the door frame 1 is provided with the 3D scanner 103 in a locking manner;
a glass door 2; two driving mechanisms 4 are oppositely arranged on opposite side vertex angles of the two glass doors 2; the upper and lower outer frames of the two glass doors 2 are both provided with a concave track groove, and the two track grooves are correspondingly matched with the two semicircular track shafts 105 in a sliding way;
the front side of the middle position of the left half section of the side plate at the top end of the door frame 1 is supported and welded with an F-shaped mounting frame 3, and the top end of the right half section of the side plate at the top end of the door frame 1 is also supported and welded with an F-shaped mounting frame 3 upwards; the doorframe 1 also comprises a transverse supporting track rod 102, and the transverse supporting track rod 102 is supported and welded at the top end of the doorframe 1; the top of motor 104, door frame 1 interlude supports upwards to lock and installs a motor 104, and the cover is equipped with a driving gear in this motor 104's the pivot.
Referring to fig. 8,F, the F-shaped mounting bracket 3 includes two positioning inserts 301, the two positioning inserts 301 are inserted into the two F-shaped mounting brackets 3 by spring pushing, and the F-shaped mounting bracket 3 is formed by welding two long and short insert rods at upper and lower ends and a short vertical support shaft at the tail ends of the two insert rods.
Referring to fig. 8,F, the mounting bracket 3 further includes a guide wheel 302, a longitudinal support plate is welded to the top end of the vertical support short shaft, and a guide wheel 302 is rotatably mounted on the head end section of the longitudinal support plate.
Referring to fig. 3, the driving mechanism 4 includes a positioning shaft 403, the main bodies of the two driving mechanisms 4 are a long supporting rod, wherein an L-shaped supporting rod is welded and fixed at the bottom of the tail end of the long supporting rod of the main body of the left driving mechanism 4, and the two positioning shafts 403 are symmetrically welded on the two end sections of the head and the tail of the two long supporting rods.
Referring to fig. 4, the driving mechanism 4 further includes a rack 402, two racks 402 are slidably mounted on four sets of positioning shafts 403 at the head and tail ends of the two driving mechanisms 4, the two racks 402 are in sliding fit with the long stay bars of the main bodies of the two driving mechanisms 4 in an up-and-down manner, and the two racks 402 are in meshing contact with the driving gear on the rotating shaft of the motor 104.
Referring to fig. 6 and 7, the driving mechanism 4 further includes
The outer front ends of two racks 402 are fixedly welded with one trapezoidal top frame 401, and the two trapezoidal top frames 401 are supported and installed in a front-back opposite direction;
the slip ring 404 is welded at the tail ends of the long support rods of the main bodies of the two driving mechanisms 4, the slip rings 404 are correspondingly matched with the cross-brace track rod 102 in a sliding mode, and the long support rods of the two positioning plug-in units 301 are correspondingly matched with the tail end sections of the long support rods of the main bodies of the two driving mechanisms 4 in an inserting mode.
Referring to fig. 6 and 7, the oblique sides of the two trapezoidal top frames 401 slide left and right along with the two racks 402 to contact with the two guide wheels 302 in a sliding and pushing manner.
Referring to fig. 11, the system includes a 3D scanner, a processor, a control system and an alarm device, and includes the following processes:
1. the 3D scanner is internally provided with a laser module and a 2D camera and is placed on one side, close to the car door, of the top of the shielding door;
2. acquiring a depth map or a point cloud image in a set area of the screen door through a 3D scanner and a processor;
3. whether an obstacle exists between the train and the shielding door is judged by comparing the image with a prestored background image;
4. when no barrier exists between the shielding door and the vehicle door, the processor cannot output signals, the shielding door cannot output actions, and the alarm device is silent.
The working principle is as follows: through the driving gear, the motor 104 can be synchronously meshed to drive the two racks 402, the two driving mechanisms 4 and the two glass doors 2 to oppositely slide and open and close, when the two glass doors 2 are closed in a butting and sliding manner, the two positioning inserts 301 can be automatically pushed, inserted and positioned by the two driving mechanisms 4 through the springs on the two positioning inserts to enable the two glass doors 2 to be stably kept in a closed state, when the two glass doors 2 are closed in a butting and sliding manner, the tail ends of the two racks 402 are in sliding and clinging to the tail ends of the two driving mechanisms 4, at this time, the two racks 402 have reverse sliding strokes over the four positioning shafts 403, if the two glass doors 2 are opened in a reverse sliding manner, the two racks 402 can firstly slide reversely along the empty strokes, and when the two racks 402 slide reversely, the two trapezoidal top frames 401 can be driven to be in butting and contact with the two guide wheel inclined surfaces 302 to drive the two positioning inserts 301 to slide, pull out and automatically release the two driving mechanisms 4, so that the two glass doors 2 can be normally opened in an outward sliding manner.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Claims (4)
1. Intelligent movement formula shield door protection system based on 3D vision, its characterized in that: a movable shield door comprising
A door frame; the door frame comprises fence nets and semicircular track shafts, the whole door frame is of a long rectangular structure, two semicircular track shafts are symmetrically arranged on the upper side plate and the lower side plate in a protruding mode, two glass doors are installed on the semicircular track shafts in an opposite sliding mode, two prescription-shaped fence nets are symmetrically arranged on the left half portion and the right half portion of the door frame, and the glass doors are located in a space between the two fence nets in a sliding mode;
the door frame is also provided with a 3D scanner, and the rear side of the middle section of the door frame is provided with the 3D scanner in a locking way;
a glass door; two driving mechanisms are oppositely arranged on the opposite side vertex angles of the two glass doors;
the front side of the middle position of the left half section of the side plate at the top end of the door frame is supported and welded with an F-shaped mounting rack, and the top end of the right half section of the side plate at the top end of the door frame is also supported and welded with an F-shaped mounting rack upwards;
the door frame also comprises
The transverse bracing rail rod is welded at the top end of the door frame in a supporting way;
the top end of the middle section of the door frame is upwards supported, locked and provided with a motor, and a rotating shaft of the motor is sleeved with a driving gear;
the upper and lower outer frames of the two glass doors are both provided with a concave track groove, and the two track grooves are correspondingly matched with the two semicircular track shafts in a sliding way;
the F-shaped mounting rack comprises positioning plug-ins, the two positioning plug-ins are inserted into the two F-shaped mounting racks through spring pushing, and the F-shaped mounting rack is formed by welding an upper insertion rod, a lower insertion rod and vertical support short shafts at the tail ends of the two insertion rods;
the F-shaped mounting rack also comprises a guide wheel, the top end of the vertical support short shaft is welded with a longitudinal support plate, and the head end section of the longitudinal support plate is rotatably provided with the guide wheel;
the driving mechanism comprises a positioning shaft, the main bodies of the two driving mechanisms are long supporting rods, an L-shaped supporting rod is fixedly welded at the bottom of the tail end of the long supporting rod of the main body of the left driving mechanism, and the two positioning shafts are symmetrically welded at the head end and the tail end of each of the two long supporting rods.
2. The intelligent, mobile, shield door protection system based on 3D vision of claim 1, wherein: the driving mechanism further comprises racks, the four groups at the head end and the tail end of the driving mechanism are arranged on the positioning shaft in a sliding mode, the racks are arranged at two positions, the racks correspond to the main strip support rods of the driving mechanisms from top to bottom and lean against the main strip support rods of the driving mechanisms in a sliding fit mode, and the racks at the two positions are correspondingly in meshed contact with the driving gear on the motor rotating shaft.
3. The intelligent, mobile, shield door protection system based on 3D vision of claim 2, wherein: the driving mechanism further comprises
The outer head ends of the two racks are fixedly welded with one trapezoidal top frame, and the two trapezoidal top frames are supported and installed in a front-back opposite direction;
the sliding rings are welded at the tail ends of the long support rods of the driving mechanism main bodies at two positions, the sliding rings at the two positions are correspondingly in sliding fit with the cross-brace track rods, and the long insertion rods of the positioning plug-in units at the two positions are correspondingly in plug-in fit with the tail end sections of the long support rods of the driving mechanism main bodies at the two positions.
4. The intelligent, mobile, shield door protection system based on 3D vision of claim 3, wherein: the bevel edges at two sides of the two trapezoidal top frames slide left and right along with the two racks and are in sliding and pushing contact with the two guide wheels.
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| CN114961513A (en) * | 2021-11-27 | 2022-08-30 | 江苏嘉盈装饰新材料有限公司 | High-strength wear-resistant aluminum alloy door and window and manufacturing method thereof |
| CN116621304B (en) * | 2023-07-20 | 2023-09-19 | 山东锦绣山河环境工程有限公司 | Alum throwing equipment for rural pond sewage treatment |
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