CN200947120Y - Obstacle-avoidance system - Google Patents
Obstacle-avoidance system Download PDFInfo
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- CN200947120Y CN200947120Y CN 200620138788 CN200620138788U CN200947120Y CN 200947120 Y CN200947120 Y CN 200947120Y CN 200620138788 CN200620138788 CN 200620138788 CN 200620138788 U CN200620138788 U CN 200620138788U CN 200947120 Y CN200947120 Y CN 200947120Y
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Abstract
The utility model relates a barrier-avoiding system, in particular to relate to a barrier-avoiding system used to detect the barrier on the ballast surface of the railway, which is composed of a distance-measuring unit, a data processing unit, a parameter setting unit, and a barrier-avoiding action signal unit. The data processing unit is respectively connected with the distance-measuring unit, the parameter setting unit, and the barrier-avoiding action signal unit. The distance-measuring unit is the sensor arranged on the front end of the driving vehicles, the axes direction of which is slant downward compared with the horizontal line, therefore, the detecting direction is slant downward with a certain angle, and the sensor can detect the front range of 180o. The utility model can detect the position of the barrier in real time and judge that whether the barrier is at the outer or inner side of the side plough in order to perform the barrier handling on time.
Description
Affiliated technical field
The utility model relates to a kind of obstacle avoidance system, relates in particular to a kind of obstacle avoidance system of detecting railway railway roadbed surface interruptions thing.
Background technology
When the railway maintenance overhaul, need join the quarrel shaping to the railway roadbed of railway; when carrying out the ballast distributing and trimming operation with the side plough of joining the car that is cut; run into the barrier of some outstanding railway roadbed through regular meeting; there are some barriers may be projected into the inboard of side plough; as catenary mast; if in time do not hide in advance, just may cause a serious accident.Though most of barriers can be arrived in naked-eye observation, be difficult to judge whether this barrier is projected into the inside of side plough, also just be difficult to judge whether keep away in advance barrier and handle.
Summary of the invention
The technical problems to be solved in the utility model provides a kind of fast detecting obstacles thing and judges whether the barrier on the railway roadbed needs to keep away the device that barrier is handled.
The technical scheme that its technical matters that solves the utility model adopts is: a kind of obstacle avoidance system, comprise range cells, data processing unit, parameter set unit hinders the actuating signal unit with keeping away, described data processing unit and range cells, parameter set unit, keeping away barrier actuating signal unit connects respectively, described range cells is the sensor that is installed in the top of driving vehicle front end, its axis direction is that relative horizontal alignment has a down dip, thereby make that its detection direction is the downward-sloping certain angle of level, and this sensor can be surveyed to the place ahead 180 degree scopes.
Described distance measuring sensor is a laser sensor.
Can measure each two-dimensional coordinate in beam plane on the railway roadbed profile of the place ahead by described distance measuring sensor, because the detection direction and the angle between the horizontal line of sensor are known, therefore just can be by calculating on the railway roadbed contoured surface each position on level and vertical both direction, also can detect simultaneously the position of each point of barrier, thereby can judge that the outside that this barrier is positioned at side plough still is positioned at the inside of side plough, handles so that in time keep away barrier.
Below in conjunction with accompanying drawing the utility model is described further:
Description of drawings:
Fig. 1 is a composition frame chart of the present utility model.
Fig. 2 is the structure and the principle of work synoptic diagram of the utility model range cells.
Fig. 3 is the utility model data processing principle synoptic diagram.
Embodiment:
As shown in Figure 1, the utility model comprises range cells, data processing unit, parameter set unit and keeps away barrier actuating signal unit, described data processing unit with range cells, parameter set unit, keep away barrier actuating signal unit and be connected respectively.Range cells passes to data processing unit with the related data of measuring, data processing unit is handled the related data that range cells transmits according to the correlation parameter of parameter set unit setting, judge whether to keep away barrier then and handle, and this signal passed to keep away barrier actuating signal unit.
As shown in Figure 2, distance measuring sensor 1 is installed in the upper end of joining quarrel car 2 front portions, and the horizontal alignment certain angle A that has a down dip relatively.The distance measuring sensor that present embodiment is selected is a laser sensor, because laser sensor is carrying out high-velocity scanning, and sweep limit is 180 degree.So for lip-deep each point of railway ballast, distance measuring sensor all can detect a distance value at any time.And, distance value and the angle of inclination A that is detected is input to data processing unit because angle of inclination A is known, can calculate the coordinate figure of lip-deep each point of railway ballast by software for calculation.
Fig. 2 has provided the detection synoptic diagram of distance measuring sensor 1 when three kinds of diverse locations.Distance measuring sensor 1 is advanced forward on rail 4 with joining quarrel car 2, if all is clear ahead 3, then distance measuring sensor 1 is surveyed is the distance between each point on itself and the railway roadbed contoured surface, when detecting barrier 3, the distance between itself that distance measuring sensor 1 detects and the barrier 3 will less than and the railway roadbed contoured surface on each the point between distance.
Figure 3 shows that the detecting light beam planimetric map, its initial point O is the mounting points of distance measuring sensor 1, from this detecting light beam planimetric map as can be seen, and coordinate figure x, Lth that each point of standard railway roadbed profile 5 all has a standard, wherein x is a lateral coordinates, and Lth is corresponding theoretical length.If barrier 3 is arranged on the railway roadbed surface, the coordinate figure x of each point on the barrier 3 that distance between itself that detects by distance measuring sensor 1 and the barrier 3 and angle of inclination A calculate, y and just have deviation with the coordinate figure of the point on the standard railway roadbed profile 5 of horizontal ordinate, compare along slope coordinate value y and Lth, can judge whether the existence of obstacle, lateral coordinates value with barrier compares with the safe range Lsafe that is calculated by side plough overhang again, can this barrier of real-time judge be the inboard that is positioned at the side plough just, and then can in time judge whether to keep away the barrier processing.
Claims (2)
1, a kind of obstacle avoidance system, it is characterized in that comprising range cells, data processing unit, parameter set unit and keep away barrier actuating signal unit, described data processing unit and range cells, parameter set unit, keep away barrier actuating signal unit and be connected respectively, described range cells is the sensor that is installed in the top of driving vehicle front end, its axis direction is that relative horizontal alignment has a down dip, thereby make that its detection direction is the downward-sloping certain angle of level, and this sensor can be surveyed to the place ahead 180 degree scopes.
2, obstacle avoidance system as claimed in claim 1 is characterized in that, described distance measuring sensor is a laser sensor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200620138788 CN200947120Y (en) | 2006-09-05 | 2006-09-05 | Obstacle-avoidance system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200620138788 CN200947120Y (en) | 2006-09-05 | 2006-09-05 | Obstacle-avoidance system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN200947120Y true CN200947120Y (en) | 2007-09-12 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 200620138788 Expired - Lifetime CN200947120Y (en) | 2006-09-05 | 2006-09-05 | Obstacle-avoidance system |
Country Status (1)
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| CN (1) | CN200947120Y (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103293958A (en) * | 2013-05-30 | 2013-09-11 | 浙江工业大学 | Iterative learning speed control method for intermittent weft accumulation process of weft accumulator |
| CN103790082A (en) * | 2012-10-31 | 2014-05-14 | 中国铁道科学研究院铁道建筑研究所 | Soil zone obstacle avoidance device of screen cleaning machine |
| CN105334856A (en) * | 2015-11-24 | 2016-02-17 | 大连楼兰科技股份有限公司 | Control device for steering system of vehicle based on CAN network bus |
| CN108263418A (en) * | 2016-12-30 | 2018-07-10 | 河南辉煌科技股份有限公司 | A kind of method of train detecting railway |
| CN114543725A (en) * | 2022-01-26 | 2022-05-27 | 深圳市云鼠科技开发有限公司 | Line laser calibration method, device, equipment and storage medium |
-
2006
- 2006-09-05 CN CN 200620138788 patent/CN200947120Y/en not_active Expired - Lifetime
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103790082A (en) * | 2012-10-31 | 2014-05-14 | 中国铁道科学研究院铁道建筑研究所 | Soil zone obstacle avoidance device of screen cleaning machine |
| CN103790082B (en) * | 2012-10-31 | 2016-11-16 | 中国铁道科学研究院铁道建筑研究所 | A kind of screen scarifier dirt soil zone fault avoidnig device |
| CN103293958A (en) * | 2013-05-30 | 2013-09-11 | 浙江工业大学 | Iterative learning speed control method for intermittent weft accumulation process of weft accumulator |
| CN105334856A (en) * | 2015-11-24 | 2016-02-17 | 大连楼兰科技股份有限公司 | Control device for steering system of vehicle based on CAN network bus |
| CN108263418A (en) * | 2016-12-30 | 2018-07-10 | 河南辉煌科技股份有限公司 | A kind of method of train detecting railway |
| CN114543725A (en) * | 2022-01-26 | 2022-05-27 | 深圳市云鼠科技开发有限公司 | Line laser calibration method, device, equipment and storage medium |
| CN114543725B (en) * | 2022-01-26 | 2023-08-18 | 深圳市云鼠科技开发有限公司 | Line laser calibration method, device, equipment and storage medium |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| ASS | Succession or assignment of patent right |
Owner name: RAILWAY CONSTRUCTION INSTITUTE OF CHINA ACADEMY OF Free format text: FORMER OWNER: BEIJING LONGDA SCIENCE AND TECHNOLOGY DEVELOPMENT CO., LTD. Effective date: 20091023 |
|
| C41 | Transfer of patent application or patent right or utility model | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20091023 Address after: Beijing Haidian District City zip Daliushu Road No. 2 Railway Construction Research Institute, 100081 Patentee after: Railway Construction Institute of China Academy of Railway Sciences Address before: Beijing Institute of railway research, 2, Haidian District, 100081. Co-patentee before: Lu Yiqun Patentee before: Beijing Longda Technology Development Co., Ltd. Co-patentee before: Gao Chunlei |
|
| C53 | Correction of patent for invention or patent application | ||
| CB03 | Change of inventor or designer information |
Inventor after: Lu Yiqun Inventor after: Gao Chunlei Inventor after: Xu Jianming Inventor after: Wang Fadeng Inventor after: Niu Huaijun Inventor before: Lu Yiqun Inventor before: Gao Chunlei Inventor before: Wang Fadeng Inventor before: Niu Huaijun |
|
| COR | Change of bibliographic data |
Free format text: CORRECT: INVENTOR; FROM: LU YIQUN GAO CHUNLEI WANG FADENG NIU HUAIJUN TO: LU YIQUN GAO CHUNLEI XU JIANMING WANG FADENG NIU HUAIJUN |
|
| CX01 | Expiry of patent term |
Granted publication date: 20070912 |
|
| EXPY | Termination of patent right or utility model |