CN201908257U - Anti-collision system for telescopic working platform of bridge-detection vehicle - Google Patents
Anti-collision system for telescopic working platform of bridge-detection vehicle Download PDFInfo
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- CN201908257U CN201908257U CN2010206618433U CN201020661843U CN201908257U CN 201908257 U CN201908257 U CN 201908257U CN 2010206618433 U CN2010206618433 U CN 2010206618433U CN 201020661843 U CN201020661843 U CN 201020661843U CN 201908257 U CN201908257 U CN 201908257U
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Abstract
The utility model discloses an anti-collision system for a telescopic working platform of a bridge-detection vehicle. The anti-collision system comprises a telescopic working platform composed of a fixed truss part and a telescopic truss part matched with the fixed truss part. The anti-collision system is characterized in that the fixed truss part is provided with a fixed platform control box and an Ith bus connector connected with the fixed platform control box, and the Ith bus connector is connected with a CAN bus installed in a pull box; eight Ith bus sub-connectors and eight Ith ultrasonic sensor nodes are installed at the two sides of the lower part of the fixed truss part, and each ultrasonic sensor node is provided with one Ith ultrasonic sensor; the fixed platform control box is connected with a main controller of the bridge-detection vehicle; and the telescopic truss part is provided with an IIth bus connector that is connected with the CAN bus in the pull box on the fixed truss part. The anti-collision system has the advantages of steady and reliable anti-collision function and simple circuit and is convenient to maintain. Due to the utilization of the ultrasonic sensors, the anti-collision system also has the advantage that the information is processed simply, quickly and cheaply.
Description
Technical field
The utility model relates to flexible working platform collision avoidance system in the working region that a kind of bridge detects the parts, particularly a kind of bridge inspection vehicle of working vehicle.
Background technology
Along with China's constant development of economy, the number of highway bridge sharply increases, and the application of truss-like bridge inspection vehicle more and more widely.And because the length of bridge inspection vehicle working platform is continuing to increase, the anticollision function of bridge inspection vehicle working platform in big working region seems more and more important.Bridge inspection vehicle working platform anticollision function in the working region does not also realize at present.
Summary of the invention
The purpose of this utility model provides a kind of working platform collision avoidance system of bridge inspection vehicle, and it can control the spinning movement of the flexible working platform of bridge inspection vehicle, avoids the bridge inspection vehicle working platform to bump in the working region.
The flexible working platform collision avoidance system of a kind of bridge inspection vehicle described in the utility model comprises by fixing truss part and the flexible working platform that partly constitutes with flexible truss that fixing truss partly cooperates;
Be provided with fixed platform control box and connected I Bussing connector in the fixing bottom of truss part one end, the I Bussing connector is connected with CAN bus in being located at terminal box by I binding frame; Be provided with 8 I buses in the fixing both sides of truss part bottom and divide connector and 8 I ultrasonic sensor nodes, each I ultrasonic sensor node is provided with an I ultrasonic sensor; 8 I ultrasonic sensors divide connector to be connected by CAN controller, optoisolator, CAN transceiver with 8 I buses respectively, and 8 I buses are divided connector to pass through I CAN bus and are connected with the I Bussing connector; The fixed platform control box is connected with the bridge inspection vehicle master controller by CAN transceiver, optoisolator, CAN controller, amplifying circuit and relay output;
Bottom at flexible truss part one end is provided with the II Bussing connector, and the II Bussing connector is connected with CAN bus in being located at the fixing truss terminal box on partly by II binding frame; Be provided with 8 II buses in the both sides of flexible truss part bottom and divide connector and 8 II ultrasonic sensor nodes, each II ultrasonic sensor node is provided with an II ultrasonic sensor; 8 II ultrasonic sensors divide connector to be connected by CAN controller, optoisolator, CAN transceiver with 8 II buses respectively, and 8 II buses are divided connector to pass through II CAN bus and are connected with the II Bussing connector.
The utility model utilized the reflection-type ultrasonic sensor in induction region to the equal direct hyperacoustic principle of reflected back of any object of occurring, avoided the bridge inspection vehicle working platform in the working region, to bump.
The PIC18F2580 that the control section of ultrasonic sensor adopts Microchip company to produce.It is 8 high-performance microcontrollers of a monolithic, has adopted Harvard's bus structures, speed of service height, and low in energy consumption, antijamming capability is strong, has CAN controller in the sheet.
The utility model has adopted the CAN bus structures, has that the anticollision function-stable is reliable, circuit is simple, the advantage of easy maintenance; Adopt ultrasonic sensor, had the advantage that information processing is simple, speed is fast, price is low; Intelligent node is transferred in the expansion of multiplex ultrasonic sensor partly finished, simplified the work of control core, make hardware design simple.
Description of drawings
Fig. 1 is a structural representation of the present utility model.
Fig. 2 is the vertical view of Fig. 1.
Fig. 3 is a working region of the present utility model schematic diagram.
Fig. 4 is an electrical connection schematic diagram of the present utility model.
The circuit diagram of Fig. 5 ultrasonic sensor node of the present utility model.
Fig. 6 be the utility model fixedly truss partly go up the circuit diagram of control box.
Fig. 7 is the flow chart of control software.
The specific embodiment
Below in conjunction with accompanying drawing the utility model is further described:
Referring to the flexible working platform collision avoidance system of Fig. 1, Fig. 2 and a kind of bridge inspection vehicle shown in Figure 3, comprise by fixing truss part 2 and the flexible working platform 1 that constitutes with flexible truss part 3 that fixing truss partly cooperates;
Be provided with fixed platform control box 4 and connected I Bussing connector 5, the I Bussing connectors is connected with CAN bus 8 in being located at terminal box 7 by I binding frame 6 in the fixing bottom of truss part 2 one ends; Be provided with 8 I buses in the fixing both sides of truss part 2 bottoms and divide connector 20,22,24,26,28,30,32,34 and 8 I ultrasonic sensor nodes 19,21,23,25,27,29,31,35, each I ultrasonic sensor node is provided with an I ultrasonic sensor; 8 I ultrasonic sensors divide connector to be connected by CAN controller, optoisolator, CAN transceiver with 8 I buses respectively, and 8 I buses are divided connector to pass through I CAN bus 33 and are connected with I Bussing connector 5; Fixed platform control box 4 is connected with bridge inspection vehicle master controller 50 by CAN transceiver, optoisolator, CAN controller, amplifying circuit and relay output;
Be provided with II Bussing connector 10, the II Bussing connectors is connected by the interior CAN bus 8 of II binding frame 9 and the terminal box 7 on being located at fixing truss part 2 in the bottom of flexible truss part 3 one ends; Be provided with 8 II buses in the both sides of flexible truss part 3 bottoms and divide connector 12,14,16,18,37,39,41,43 and 8 II ultrasonic sensor nodes 11,13,15,17,36,38,40,44, each II ultrasonic sensor node is provided with an II ultrasonic sensor; 8 II ultrasonic sensors divide connector to be connected by CAN controller, optoisolator, CAN transceiver with 8 II buses respectively, and 8 II buses are divided connector to pass through II CAN bus 42 and are connected with II Bussing connector 10.
Referring to Fig. 4, during work, 8 II ultrasonic sensor nodes 11,13,15,17,36,38,40,44 on the flexible truss part 3 divide connector 12,14,16,18,37,39,41,43 and enter II Bussing connector 10, the II Bussing connectors by IICAN bus 42 through 8 corresponding II buses and enter in the control box 4 on the fixing truss part 2 by II binding frame 9, terminal box 7, I binding frame 6; After control box 4 carries out logical process, send a relay signal, the master controller 50 that this relay signal enters bridge inspection vehicle carries out logical process, and the spinning movement of the flexible working platform 1 of control prevents the purpose of colliding thereby reach;
Fixedly 8 I ultrasonic sensor nodes 19,21,23,25,27,29,31,35 on the truss part 2 divide connector 20,22,24,26,28,30,32,34 and enter control box 4 by I CAN bus 33 through 8 corresponding I buses, after in control box 4, carrying out logical process, send a relay signal through amplifying circuit, this relay signal enters the master controller 50 of bridge inspection vehicle, carry out logical process, the spinning movement of the flexible working platform 1 of control prevents the purpose of colliding thereby reach.
Referring to Fig. 5, Fig. 7, PIC18F2580 undertakes two main tasks: the first is as the control core of ultrasonic sensor, the reception and the radiating portion circuit of ultrasonic sensor on its common I/O mouth, have been expanded, utilize the software function of single-chip microcomputer to produce the 40kHz signal and go out, utilize the receiving unit circuit to receive again by driving amplifying emission.In addition, can proceed the expansion of ultrasonic sensor, realize the design of a plurality of ultrasonic transducer systems all the other mouthfuls line; It two is to utilize CAN controller in the sheet of PIC18F2580 to realize and being connected of CAN bus.
LM386 is a kind of audio frequency integrated amplifier, and it is a three-stage amplifier.Utilize the driving enlarging function of LM386 that the 40kHz square wave that single-chip microcomputer produces is amplified output.TX1 is the ultrasonic emitting head.
The integrated circuit CX20106A that adopts infrared rays detection reception is as the ultrasound examination circuit.The size of appropriate change C11 can change the sensitivity and the antijamming capability of receiving circuit.The gain amplifier of R12 and C11 control CX20106A inside, the centre frequency of R14 control bandpass filter.Generally get R12=4.7 Ω, C11=1 μ F.RX1 is that ultrasonic wave receives head, produces a trailing edge when receiving ultrasonic wave, receives on the external interrupt INTO of single-chip microcomputer.
When ultrasonic wave receives head and receives the 40kHz square-wave signal, this signal will be driven by CX20106A and amplify 0 mouthful of external interrupt sending into PIC18F2580.For many ultrasonic sensors node system, each ultrasonic sensor node can carry out simple process to obstacle information in the disconnected therein respectively service routine, platform fixed part controller is after the interrupt requests that obtains external interrupt 0, the interrupt service routine that can change external interrupt 0 over to is handled, and send a relay signal reports bridge inspection vehicle by the CAN bus master controller, by the give an order barrier action of keeping away of control scaling platform of bridge inspection vehicle master controller, reach and prevent the purpose of colliding.
Referring to Fig. 6, TJAl040 is the high-speed CAN bus transceiver that Philips semiconductor company produces.This device provides the interface between CAN protocol controller and the physical bus, and to the differential transmission and the receiving function of CAN bus.TJAl040 has outstanding EMC performance, and under the power-up state desirable passive performance is not being arranged; It also provides the low-power consumption management, supports Remote Wake Up.TJAl040 has the automatic anti-fault function.STB pin ground connection is operated under the normal mode, and pin TXD provides one to draw on VCC, makes pin TXD keep recessive level when not using.If the VCC power down, pin TXD, STB and RXD will become suspended state, prevent to produce reversing the current by these pins.The CANH1 of TJAl040 is connected with the CAN bus by one 5 Ω resistance separately with the CANL1 pin, and resistance plays certain metering function, and protection TJAl040 is not subjected to the impact of overcurrent.
6N137 is a photoelectrical coupler, can strengthen the antijamming capability of CAN bus node, realizes the internodal electrical isolation of each CAN on the bus well.Two power supply VCC and VDD that the optocoupler partial circuit is adopted must isolate fully.
The electric capacity of two 30pF in parallel between CANH and CANL and the ground can filter out High-frequency Interference on the bus and certain electromagnetic radiation.Between two CAN bus interface people end and the ground respectively reversal connection a protection diode.When the CAN bus has higher negative voltage, can play certain overvoltage protection effect by the afterflow of diode.120 Ω resistance of bus two terminations play the matching bus impedance, guarantee the interference free performance and the reliability of data communication.
Claims (1)
1. the flexible working platform collision avoidance system of a bridge inspection vehicle, comprise by fixing truss part (2) and with the flexible working platform (1) that flexible truss part (3) that fixing truss partly cooperates constitutes, it is characterized in that:
Bottom at fixing truss part (2) one ends is provided with fixed platform control box (4) and connected I Bussing connector (5), and the I Bussing connector is connected by I binding frame (6) the CAN bus (8) interior with being located at terminal box (7); Be provided with 8 I buses in the both sides of fixing truss part (2) bottom and divide connector (20,22,24,26,28,30,32,34) and 8 I ultrasonic sensor nodes (19,21,23,25,27,29,31,35), each I ultrasonic sensor node is provided with an I ultrasonic sensor; 8 I ultrasonic sensors divide connector to be connected by CAN controller, optoisolator, CAN transceiver with 8 I buses respectively, and 8 I buses are divided connector to pass through ICAN bus (33) and are connected with I Bussing connector (5); Fixed platform control box (4) is connected with bridge inspection vehicle master controller (50) by CAN transceiver, optoisolator, CAN controller, amplifying circuit and relay output;
Bottom at flexible truss part (3) one ends is provided with II Bussing connector (10), the II Bussing connector by II binding frame (9) be located at fixing truss partly the interior CAN bus (8) of the terminal box (7) on (2) be connected; Be provided with 8 II buses in the both sides of flexible truss part (3) bottom and divide connector (12,14,16,18,37,39,41,43) and 8 II ultrasonic sensor nodes (11,13,15,17,36,38,40,44), each II ultrasonic sensor node is provided with an II ultrasonic sensor; 8 II ultrasonic sensors divide connector to be connected by CAN controller, optoisolator, CAN transceiver with 8 II buses respectively, and 8 II buses are divided connector to pass through II CAN bus (42) and are connected with II Bussing connector (10).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010206618433U CN201908257U (en) | 2010-12-16 | 2010-12-16 | Anti-collision system for telescopic working platform of bridge-detection vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010206618433U CN201908257U (en) | 2010-12-16 | 2010-12-16 | Anti-collision system for telescopic working platform of bridge-detection vehicle |
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| Publication Number | Publication Date |
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| CN201908257U true CN201908257U (en) | 2011-07-27 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN2010206618433U Expired - Lifetime CN201908257U (en) | 2010-12-16 | 2010-12-16 | Anti-collision system for telescopic working platform of bridge-detection vehicle |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102041777A (en) * | 2010-12-16 | 2011-05-04 | 重庆大江工业有限责任公司 | Anti-collision system for telescopic working platform of bridge detection vehicle |
| CN102608920A (en) * | 2012-03-15 | 2012-07-25 | 中国计量学院 | Method for monitoring bridge inspection van through three-dimensional (3D) simulation on basis of Android system |
| CN102619167A (en) * | 2012-04-24 | 2012-08-01 | 重庆市鹏创道路材料有限公司 | Bridge overhaul vehicle preventing occupying driving lane |
-
2010
- 2010-12-16 CN CN2010206618433U patent/CN201908257U/en not_active Expired - Lifetime
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102041777A (en) * | 2010-12-16 | 2011-05-04 | 重庆大江工业有限责任公司 | Anti-collision system for telescopic working platform of bridge detection vehicle |
| CN102608920A (en) * | 2012-03-15 | 2012-07-25 | 中国计量学院 | Method for monitoring bridge inspection van through three-dimensional (3D) simulation on basis of Android system |
| CN102608920B (en) * | 2012-03-15 | 2013-06-26 | 中国计量学院 | Method for monitoring bridge inspection van through three-dimensional (3D) simulation on basis of Android system |
| CN102619167A (en) * | 2012-04-24 | 2012-08-01 | 重庆市鹏创道路材料有限公司 | Bridge overhaul vehicle preventing occupying driving lane |
| CN102619167B (en) * | 2012-04-24 | 2015-05-20 | 重庆市鹏创道路材料有限公司 | Bridge overhaul vehicle preventing occupying driving lane |
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| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20110727 Effective date of abandoning: 20130227 |
|
| RGAV | Abandon patent right to avoid regrant |