Collision control system and control method for three platforms of contact network maintenance operation vehicle

Abstract

The invention relates to the technical field of collision control, and provides a collision control system and method for three platforms of a contact network maintenance operation vehicle. The system comprises a tilt angle sensor and a plurality of stay wire sensors and is used for acquiring pose data of a main platform, a first side platform and a second side platform; the two groups of ultrasonic sensors are used for acquiring the obstacle distance dU in the detection range of the ultrasonic sensors on the two sides of the two side platforms; the two laser radars are used for acquiring the obstacle distance dR in the detection range of the laser radars on the two sides of the two side platforms; the laser radar is used for detecting obstacles in a detection blind area of the ultrasonic sensor; the PLC complete machine controller carries out tunnel anti-collision control according to the pose data and the tunnel limit; performing obstacle anti-collision control according to the obstacle distance dU in the detection range of the ultrasonic sensor; and performing obstacle anti-collision control according to the obstacle distance dR in the laser radar detection range. The technical problem that a traditional active anti-collision mode is insufficient in accuracy is solved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of collision control, in particular to a collision control system and control method for a three-platform catenary maintenance vehicle. BACKGROUND

[0002] A large part of the existing tunnel, underground passage, underground operation, and vehicle platform facilities and obstacle anti-collision technologies can be attributed to passive anti-collision methods based on early warning devices. This method relies on early warning devices (mostly fixed on the side walls of tunnels or underground passages, limiting devices), uses reflective strips / panels, warning lights or signs, and guides and warns passing vehicles. When the vehicle is too close to the warning sign on the side wall of the tunnel, passive anti-collision devices such as rubber plates and springs are used to slow down the collision and damage of the warning sign, and the anti-collision effect is poor. The installation and integration of the detection equipment are complicated. Another part can be attributed to active anti-collision methods based on controllers. This method mainly uses laser, radar, camera, and other collection devices to collect position and distance information. The central controller controls the platform operation according to the early warning signal, position, and vehicle speed information to avoid collision and early warning. The overall performance of the active anti-collision is very good, but the laser, radar, and camera are greatly affected by external environmental interference. The control algorithm is slightly rough and the precision is poor, which needs to be further improved and perfected according to the actual working conditions.

[0003] Therefore, the traditional active anti-collision method lacks accuracy, which is a technical problem that needs to be solved by those skilled in the art.

[0004] The above information disclosed in the background is only used to enhance the understanding of the background of the present application, and therefore it can contain information that is not formed as prior art known to those skilled in the art. SUMMARY

[0005] The embodiments of the present application provide a collision control system and control method for a three-platform catenary maintenance vehicle to solve the technical problem of lack of accuracy of the traditional active anti-collision method.

[0006] According to a first aspect of the embodiments of the present application, a collision control system for a three-platform catenary maintenance vehicle is provided, which comprises a detection device and a PLC whole machine controller connected with the detection device. The detection device comprises: an inclination sensor and a plurality of wire tension sensors for obtaining the pose data of a main platform, a first side platform, and a second side platform of the three platforms; two groups of ultrasonic sensors for respectively obtaining the distance d U of obstacles within the detection range of the ultrasonic sensors on both sides of the two side platforms; two laser radars for respectively obtaining the distance d R of obstacles within the detection range of the laser radars on both sides of the two side platforms.The lidar is used to detect obstacles within the detection blind zone of the ultrasonic sensor. The PLC controller is used for: Based on pose data and tunnel clearance, tunnel collision avoidance control is implemented. Assuming no collision occurs between the three platforms and the tunnel, the distance d to obstacles within the detection range of the ultrasonic sensors is considered. U Implement obstacle collision avoidance control; If there are no obstacles within the detection range of the ultrasonic sensor, the distance d to the obstacle within the detection range of the lidar is used as a reference. R Implement obstacle collision avoidance control.

[0007] According to a second aspect of the embodiments of this application, a collision control method for a three-platform overhead contact line maintenance vehicle is provided, comprising the following steps: Based on pose data and tunnel clearance, tunnel collision avoidance control is implemented. Assuming no collision occurs between the three platforms and the tunnel, the distance d to obstacles within the detection range of the ultrasonic sensors is considered. U Implement obstacle collision avoidance control; Assuming there are no obstacles within the detection range of the three platforms and ultrasonic sensors, the distance d to obstacles within the detection range of the lidar is used as a reference. R Implement obstacle collision avoidance control.

[0008] The embodiments of this application, by adopting the above technical solutions, have the following technical effects: The collision control system of the three-platform overhead contact line maintenance vehicle in this application embodiment is divided into three levels of collision control with decreasing precision: The first level is to perform tunnel collision avoidance control based on the pose data obtained from tunnel clearance, tilt sensors, and guy wire sensors. The second level is based on the distance d of obstacles within the detection range of the ultrasonic sensor. U To perform close-range collision avoidance control; The third level is based on the distance d of obstacles within the detection range of the lidar. R This enables closer obstacle collision avoidance control; the lidar is used to detect obstacles within the detection blind zone of the ultrasonic sensor. That is, when the ultrasonic sensor enters its detection blind zone due to insufficient distance, the lidar performs the detection.

[0009] The collision control system of the overhead contact line maintenance vehicle in this application embodiment is a three-level collision control with decreasing precision, which ensures both the efficiency and high precision of collision control. Attached Figure Description

[0010] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings: Figure 1 This is a schematic diagram of the collision control system of the three-platform overhead contact line maintenance vehicle of this application; Figure 2 for Figure 1 The diagram shows the collision control system installed on the three platforms of the overhead contact line maintenance vehicle. Figure 3 for Figure 2 Top view; Figure 4 for Figure 1 The diagram shows the ultrasonic sensor of the collision control system performing ultrasonic detection. Figure 5 for Figure 1 The diagram shows the LiDAR detection of obstacles on any one side platform of the collision control system. Figure 6 for Figure 1 A schematic diagram of the three-platform deployment of the collision control system shown. Figure 7 for Figure 1 The collision control system shown has a main platform height h above the ground at its highest point. MG The maximum horizontal lateral distance l between the main platform and the center of the track MG A schematic diagram; Figure 8 for Figure 1 A schematic diagram of the collision control system after tilting. Figure 9 The limit of the main platform of the collision control system shown is l 0L The clearance of the No. 1 side platform is l 1L The clearance of the No. 2 side platform is l 2L A schematic diagram; Figure 10 This is a flowchart of the collision control process for the three platforms of the overhead contact line maintenance vehicle in this application.

[0011] Figure label: Main platform 10, Side platform 11, Side platform 12 Main platform lifting cable sensor 20, Side platform No. 1 lifting cable sensor 21, side platform No. 2 lifting cable sensor 22. Pull-out cable sensor 31 from side platform 1, and pull-out cable sensor 32 from side platform 2. 4. Ultrasonic sensor, 5. LiDAR, 6. Tilt sensor. Detailed Implementation

[0012] In order to make the technical solutions and advantages in the embodiments of the present application clearer and more apparent, the exemplary embodiments of the present application are further described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present application, not all the embodiments. It should be noted that the embodiments in the present application and the features in the embodiments can be combined with each other without conflict.

[0013] The three platforms of the catenary maintenance vehicle refer to an important device on the catenary maintenance vehicle, including a main platform and two side platforms. Here is a detailed introduction to the three platforms: ‌1. Main platform: mainly responsible for lifting action, providing a stable working platform for maintenance personnel. Through the lifting mechanism, the platform height can be easily adjusted to adapt to the maintenance needs of catenary at different heights.

[0014] ‌2. Side platform: in addition to being able to lift, it can also extend to both sides, increasing the range and flexibility of the operation. The two side platforms enable maintenance personnel to perform comprehensive inspection, maintenance and maintenance on catenary threads, suspension components, insulators, return lines, etc.

[0015] ‌3. Actual application: DPT type three-platform operation vehicle in actual application, such as Longhai line catenary centralized repair period, through the lifting of the three platforms in turn, the operation of extending, not only greatly improves the maintenance efficiency, but also improves the safety factor of the on-site operation personnel.

[0016] In summary, the three platforms of the catenary maintenance vehicle provide an efficient and safe solution for the maintenance of electrified railway catenary with its unique design and powerful functions.

[0017] Embodiment one As Figure 1 shown, the present application provides a collision control system for a three-platform catenary maintenance vehicle, including a detection device, a PLC whole machine controller, an alarm device and an electro-hydraulic actuator. The detection device can detect the pose information of the three platforms and obstacles, and the PLC whole machine controller provides a matching active anti-collision control method. The purpose of the collision control system is to prevent the three platforms from colliding with catenary cables, tunnel walls and other obstacles during ordinary or special working conditions (such as super high, inclined, etc.), and to remind the operator to improve the safety performance of the equipment and personnel.

[0018] The detection device comprises an inclination sensor, a plurality of pull wire sensors, two groups of ultrasonic sensors, and two laser radars. The collision control system of the three platforms of the catenary maintenance vehicle according to the embodiment of the application collects the pose information and the obstacle distance information of the three platforms through the detection device, and transmits the information to the PLC main controller through the CAN bus. The PLC main controller takes a series of parameters of the geometric shape collected by the pull wire sensors, the inclination sensor, and the like, and calculation as the main judgment basis, takes the multiple detection information of the obstacles such as the ultrasonic sensors and the laser radars as the auxiliary judgment basis, and gives corresponding control instructions. The control instructions are sent to the electro-hydraulic actuator and the alarm device through the bus. The electro-hydraulic actuator performs corresponding anti-collision actions according to the control instructions, prohibits dangerous operations, and prevents possible collision risks. The alarm device gives corresponding early warning and prompt to the operator in the form of text, image, sound and light through the display, warning light and buzzer according to the instructions.

[0019] In the implementation, as shown in Figure 1 、 Figure 2 and Figure 3 , the inclination sensor 6 and the plurality of pull wire sensors are used to obtain the pose data of the main platform 10, the first side platform 11 and the second side platform 12 of the three platforms. The two groups of ultrasonic sensors 4 are respectively used to obtain the obstacle distance d U within the detection range of the ultrasonic sensors on both sides of the two side platforms. The two laser radars 5 are respectively used to obtain the obstacle distance d R within the detection range of the laser radars on both sides of the two side platforms. The laser radars are used to detect the obstacles within the detection blind area of the ultrasonic sensors. The PLC main controller is used to: perform tunnel anti-collision control according to the pose data and the tunnel limit; perform obstacle anti-collision control according to the obstacle distance d U within the detection range of the ultrasonic sensors in the case that the three platforms and the tunnel will not collide; perform obstacle anti-collision control according to the obstacle distance d R within the detection range of the laser radars in the case that there is no obstacle within the detection range of the ultrasonic sensors.

[0020] The collision control of the collision control system of the three platforms of the catenary maintenance vehicle according to the embodiment of the application is divided into three levels of collision control with decreasing precision: The first level is to perform tunnel anti-collision control according to the tunnel limit and the pose data obtained by the inclination sensor 6 and the pull wire sensors; The second level is to perform near-distance anti-collision control according to the obstacle distance d U within the detection range of the ultrasonic sensors; The third level is based on the distance d of obstacles within the detection range of the lidar. R This enables closer obstacle collision avoidance control; the lidar detects obstacles within the detection blind zone of the ultrasonic sensor. That is, when the ultrasonic sensor enters its detection blind zone due to insufficient distance, the lidar performs the detection.

[0021] The collision control system of the overhead contact line maintenance vehicle in this application embodiment is a three-level collision control with decreasing precision, which ensures both the efficiency and high precision of collision control.

[0022] To better understand, it is necessary to briefly introduce the general workflow of the three-platform system described in this plan. The overhead contact line maintenance vehicle stops at the railway work site as needed, takes necessary safety precautions, and raises the three platforms to a position roughly near the overhead contact line requiring maintenance. Then, the fine-tuning side platform is brought closer to the overhead contact line to better observe and repair the equipment. During the fine-tuning of the side platform, due to the operator's lack of overall awareness of the surrounding environment, there is a risk of the three platforms colliding with surrounding obstacles.

[0023] Figure 4 for Figure 1 The diagram illustrates the ultrasonic sensor used in the collision control system for ultrasonic detection. The ultrasonic sensor has a detection range of 0.2m to 4m, capable of detecting obstacles within this range. The area within 0.2m is a blind spot for the ultrasonic sensor; therefore, the collision control system for the three platforms of the overhead contact line maintenance vehicle uses lidar for close-range obstacle detection.

[0024] Figure 5 for Figure 1 The diagram shows a side-platform lidar system for obstacle detection in a collision control system. The lidar emits a linear laser and rotates at high speed back and forth at a preset angle α, detecting obstacles at preset nearest and farthest detection distances. It can detect obstacles that enter its detection range. The lidar's detection range is greater than 0m and less than or equal to 0.2m.

[0025] During implementation, such as Figure 2 and Figure 3 As shown, the tilt sensor 6 is fixed on the main platform 10 to obtain tilt data θ of the three platforms.

[0026] Specifically, since the tilt angles of the three platforms are the same, it is sufficient to install a tilt sensor 6 on the main platform 10.

[0027] During implementation, such as Figure 2 As shown, there are five pull-wire sensors, namely: The main platform lifting cable sensor 20 is used to obtain the vertical lifting distance △h0 of the main platform 10 when it is deployed; The No. 1 side platform lifting cable sensor 21 is used to obtain the vertical lifting distance △h1 of the No. 1 side platform when it is deployed. The second side platform lifting cable sensor 22 is used to obtain the vertical lifting distance △h2 of the second side platform when it is deployed; The No. 1 side platform pull-out cable sensor 31 is used to obtain the pull-out distance △l1 of the No. 1 side platform when it is horizontally pushed out. The second side platform pull-out cable sensor 32 is used to obtain the pull-out distance △l2 of the second side platform when it is pushed out horizontally.

[0028] Specifically, Figure 2 The installation locations of each pull-wire sensor are shown. It should be noted that... Figure 2 This is just one way to implement the installation location; other installation locations are also possible, as long as the corresponding distance can be obtained.

[0029] Figure 6 for Figure 1 The diagram shows the three-platform deployment of the collision control system. Figure 7 The highest point of the main platform is h above the ground MG The maximum horizontal lateral distance l between the main platform and the center of the track MG A schematic diagram. The tilt angle data θ collected by the tilt sensor is displayed on the three platforms with the data labeled as follows. Figure 6 As shown, the height h of the highest point of the main platform above the ground is... MG The maximum horizontal lateral distance l between the main platform and the center of the track MG Based on geometric relationships (such as) Figure 7 As shown in the figure, it can be obtained.

[0030] During implementation, tunnel collision avoidance control is carried out based on pose data and tunnel clearance, specifically including the calculation of: The highest point of the main platform is at a height h above the ground. MG :

[0031] Maximum horizontal lateral distance l from the main platform to the center of the track MG : ; Among them, h BG h is the height of the base of the three platforms from the ground. 00 The height of the main platform from the base of the three platforms when the main platform is fully retracted, △h0 is the vertical lifting distance of the main platform when the main platform is deployed (i.e., raised), and h is the vertical lifting distance of the main platform. M The height of the main platform suspended platform itself, l Mθ represents the horizontal width of the main platform, and θ represents the tilt angle data of the three platforms.

[0032] Figure 8 for Figure 1 The diagram shows the tilted state of the collision control system. It is illustrated using an example where the track has superelevation (the side where platform one is located is slightly higher), based on pose data obtained from tilt sensors and various cable sensors, and as shown... Figure 8 Based on the geometric relationship of the side platforms shown, the height h of the first side platform above the ground can be calculated. 1SG The height h of the second side platform above the ground 2SG Maximum horizontal distance from the center of the base to the first side platform Maximum horizontal distance between the second side platform and the center of the base .

[0033] During implementation, tunnel collision avoidance control is carried out based on pose data and tunnel clearance, specifically including the calculation of: The height h of the first side platform above the ground 1SG :

[0034] The height h of the second side platform above the ground 2SG :

[0035] Maximum horizontal distance from the center of the base to the first side platform :

[0036] Maximum horizontal distance between the second side platform and the center of the base : ; Among them, h 10 The height of the first side platform from the base of the third platform when it is fully retracted; △h1 is the vertical lifting distance of the first side platform when it is deployed; h 1S The height of the suspended platform on side platform one; h 20 Δh2 is the height of the second side platform from the base of the third platform when the second side platform is fully retracted, and Δh2 is the vertical lifting distance of the second side platform when it is deployed. 2S The height of the suspended platform on the second side platform itself; h SM The distance between the bottom of the side thruster and the bottom surface of the main platform is l 10 Let l be the lateral width of the first side platform, and Δl1 be the distance the first side platform is pulled out when it is pushed out horizontally. 20 Δl2 represents the lateral width of the second side platform; Δl2 represents the distance the second side platform is pulled out when it is pushed out horizontally.

[0037] Figure 9 The limit of the main platform of the collision control system is l 0L The limit of the first side platform is l 1L The limit of the second side platform is l 2L The schematic diagram is shown. According to the working tunnel information of the contact network maintenance vehicle and the reference height value, the limit of the main platform is l 0L The limit of the first side platform is l 1L The limit of the second side platform is l 2L l 0L The limit at the height of the tunnel h MG The limit at the height of the tunnel h 1L The limit at the height of the tunnel h 1SG The limit at the height of the tunnel h 2L The limit at the height of the tunnel h 2SG The limit at the height of the tunnel h

[0038] The collision control system of the three platforms of the contact network maintenance vehicle in the embodiment of the application adopts a timing polling mode to obtain collected data in real time, and a system flowchart is shown in Figure 10 , which is divided into three stages: (1) According to the three-platform pose data collected by the tension cable sensor and the inclination sensor, the vertical distance from the ground and the horizontal width of the three platforms are calculated, and the three-platform anti-collision judgment based on the tension cable sensor and the inclination sensor data is performed. That is, according to the pose data and the tunnel limit, the tunnel anti-collision control is performed.

[0039] (2) According to the obstacle information such as the contact network cable and the tunnel wall detected by the ultrasonic sensor, the three-platform anti-collision judgment based on the ultrasonic sensor is performed. That is, in the case that the three platforms and the tunnel will not collide, according to the obstacle distance d U within the detection range of the ultrasonic sensor, the obstacle anti-collision control is performed.

[0040] (3) The system detects the obstacle information such as the contact network cable and the tunnel wall according to the laser radar, and performs the three-platform anti-collision judgment based on the laser radar. That is, in the case that there is no obstacle within the detection range of the ultrasonic sensor, according to the obstacle distance d R within the detection range of the laser radar, the obstacle anti-collision control is performed.

[0041] In the implementation, according to the pose data and the tunnel limit, the three-platform and tunnel anti-collision control is performed, which further includes: l MG ≥ 0.5l 0LIn such cases, a "collision between the main platform and the tunnel" warning will be issued. The specific details of the warning are: the platform display screen will show "collision between the main platform and the tunnel" in real time; a warning light will flash red to alert the user that the platform has collided with an obstacle; and the platform will stop immediately to prevent further damage.

[0042] In l MG <0.5l 0L In the case of, and l 1SG ≥0.5l 1L In such cases, a warning will be issued stating "Collision exists between the No. 1 side platform and the tunnel." The specific details of the warning are: the platform display screen will show "Collision exists between the No. 1 side platform and the tunnel" in real time; the warning light will flash red to alert the user that the platform has collided with an obstacle; and the platform will stop immediately to prevent further damage.

[0043] In l MG <0.5l 0L In the case of, and l 1SG <0.5l 1L In the case of, and l 2SG ≥0.5l 2L In such cases, a warning will be issued stating "Collision exists between the second side platform and the tunnel." The warning will include: the platform display screen will show "Collision exists between the second side platform and the tunnel" in real time; a warning light will flash red to alert the user that the platform has collided with an obstacle; and the platform will stop immediately to prevent further damage.

[0044] In l MG <0.5l 0L In the case of, and l 1SG <0.5l 1L In the case of, and l 2SG <0.5l 2L In this case, the three platforms and the tunnel will not collide.

[0045] like Figure 4 As shown, the ultrasonic sensor is used to detect obstacles on both sides of the side platform. During the lateral pushing or rising of the side platform, if an obstacle enters the detection range (e.g., 0.2~4m), a corresponding warning signal is given to the user based on the distance of the obstacle detected by the ultrasonic sensor.

[0046] During implementation, assuming no collision occurs between the three platforms and the tunnel, the distance d to obstacles within the detection range of the ultrasonic sensors will be used. U Obstacle collision avoidance control specifically includes: Obtain the distance d of obstacles within the detection range of the ultrasonic sensor. U ; In 0.5≤d UIf the distance is less than 1, a Level 1 warning will be issued indicating a collision between the main platform and a nearby obstacle. The specific content of a Level 1 warning is as follows: the platform display shows the distance in real time, and the warning light flashes yellow to remind the user that the platform is close to the obstacle.

[0047] In 0.2≤d U If the distance is less than 0.5, a Level 2 warning will be issued: "The main platform is colliding with a nearby obstacle." The specific details of a Level 2 warning are as follows: the platform display shows the distance in real time, the warning light flashes red to remind the user that the platform is too close to the obstacle, the platform stops immediately to avoid a collision, and at this time, the platform is only allowed to move in the opposite direction.

[0048] like Figure 5 As shown, the distance d0 between the lidar and the platform (e.g., d0 = 0.2m) and the rotation angle α (e.g., α = 180) should be set appropriately. o The lidar rotates back and forth at high speed, and the linear laser emitted by the lidar detects obstacles at a distance d. R .

[0049] During implementation, when there are no obstacles within the detection range of the three platforms and ultrasonic sensors, the distance d of obstacles within the detection range of the lidar is used as the basis for the calculation. R Obstacle collision avoidance control specifically includes: Obtain the distance d of obstacles within the detection range of the lidar. R ; exist In such cases, a warning will be issued indicating a collision between the main platform and a nearby obstacle; among which, l S h is the length of the side platform. S This refers to the height of the side platform. The warning message includes the platform display showing the distance in real time, a flashing red warning light alerting the user that the platform is too close to an obstacle, and the platform immediately stopping to avoid a collision. At this point, the platform is only permitted to move in the opposite direction.

[0050] exist In such cases, determine whether to proceed with the next cycle of tunnel collision avoidance control.

[0051] Example 2 like Figure 10 As shown in the figure, a collision control method for a three-platform overhead contact line maintenance vehicle according to an embodiment of this application includes the following steps: Based on pose data and tunnel clearance, tunnel collision avoidance control is implemented. Assuming no collision occurs between the three platforms and the tunnel, the distance d to obstacles within the detection range of the ultrasonic sensors is considered. U Implement obstacle collision avoidance control; In the case of no obstacle within the detection range of the three platforms and the ultrasonic sensor, according to the obstacle distance d within the detection range of the laser radar R Obstacle collision avoidance control is performed.

[0052] As shown in Figure 10 , according to the pose data and the tunnel boundary, the steps of tunnel collision avoidance control are performed, specifically including: Obtain the three platform pull-up data △h0, △h1, △h2 and the side platform pull-out data △l1, △l2 from the pull wire sensor, and obtain the platform inclination data θ from the inclination sensor; Calculate h MG , l MG based on the three platform pose data of the pull wire sensor 1SG , l 1SG , h 2SG , l 2SG of the side platform pose data; According to the tunnel boundary, the three platform collision avoidance pre-judgment is performed to determine whether l MG ≥ 0.5l 0L is established: If yes, pre-warning is performed; If not, determine whether l 1SG ≥ 0.5l 1L is established: If yes, pre-warning is performed; If not, determine whether l 2SG ≥ 0.5l 2L is established: If yes, pre-warning is performed; If not, obstacle collision avoidance control is performed according to the obstacle distance d U within the detection range of the ultrasonic sensor; Wherein, l 0L is the boundary at the height h MG of the tunnel, l 1L is the boundary at the height h 1SG of the tunnel, and l 2L is the boundary at the height h 2SG of the tunnel; The maximum horizontal lateral distance l MG from the ground at the highest point of the main platform is:

[0053] The maximum horizontal lateral distance l MG from the center of the track at the main platform is: ; Wherein, h BG is the height of the base of the three platforms from the ground, and h 00h0 is the height from the base of the three platforms when the main platform is fully retracted, △h0 is the vertical lifting distance of the main platform when the main platform is unfolded, h M h1 is the height of the basket of the first side platform, l M θ is the inclination angle data of the three platforms; h0 is the height from the base of the three platforms when the main platform is fully retracted, △h0 is the vertical lifting distance of the main platform when the main platform is unfolded, h 1SG :

[0054] h0 is the height from the base of the three platforms when the main platform is fully retracted, △h0 is the vertical lifting distance of the main platform when the main platform is unfolded, h 2SG :

[0055] h0 is the height from the base of the three platforms when the main platform is fully retracted, △h0 is the vertical lifting distance of the main platform when the main platform is unfolded, h 1SG respectively as follows:

[0056] h0 is the height from the base of the three platforms when the main platform is fully retracted, △h0 is the vertical lifting distance of the main platform when the main platform is unfolded, h 2SG respectively as follows: ; h0 is the height from the base of the three platforms when the main platform is fully retracted, △h0 is the vertical lifting distance of the main platform when the main platform is unfolded, h 10 h1 is the height of the basket of the first side platform, l 1S h1 is the height of the basket of the first side platform, l h0 is the height from the base of the three platforms when the main platform is fully retracted, △h0 is the vertical lifting distance of the main platform when the main platform is unfolded, h 20 h0 is the height from the base of the three platforms when the main platform is fully retracted, △h0 is the vertical lifting distance of the main platform when the main platform is unfolded, h 2S h1 is the height of the basket of the first side platform, l h0 is the height from the base of the three platforms when the main platform is fully retracted, △h0 is the vertical lifting distance of the main platform when the main platform is unfolded, h SM h0 is the height from the base of the three platforms when the main platform is fully retracted, △h0 is the vertical lifting distance of the main platform when the main platform is unfolded, h 10 h1 is the height of the basket of the first side platform, l 20 h1 is the height of the basket of the first side platform, l

[0057] As shown in Figure 10 the implementation, according to the obstacle distance d U in the detection range of the ultrasonic sensor, the step of obstacle anti-collision control, specifically comprising: obtaining ultrasonic sensor detection distance data, the obstacle distance d U in the detection range of the ultrasonic sensor; judging whether 0.5≤d U <1 is established: if yes, warning; if not, judging whether 0.2≤dU <0.5 is true: a warning is given; if not, whether the distance d of the obstacle within the detection range of the laser radar is less than 0.5h: R obstacle collision control is performed.

[0058] As shown in Figure 10 , in the implementation, whether the distance d of the obstacle within the detection range of the laser radar is less than 0.5h: R obstacle collision control is performed. whether d is less than sqrt[l R +(0.5h S ) 2 +(0.5h S ) 2 ] is true: a warning is given; if not, whether tunnel collision control of the next time slot is performed; wherein, l S is the length of the side platform, and h S is the height of the side platform.

[0059] The catenary maintenance vehicle three-platform collision control system and control method of the application mainly has the following advantages: (1) The detection device mainly uses a guyed sensor and an inclination sensor, supplemented by an ultrasonic sensor and a laser radar, and the main information collection is less affected by environmental interference and is stable and reliable; (2) The three-platform collision control method provided mainly uses a series of parameters of the geometric shape collected by the guyed sensor and the inclination sensor and calculation as the main judgment basis, has strong accuracy, and uses obstacle multiple detection by the ultrasonic sensor and the laser radar as the auxiliary judgment basis, and has higher reliability.

[0060] (3) The three-platform collision control system provided with the PLC whole machine controller as the control center has good real-time performance and high safety, can detect obstacles such as tunnel walls and catenary cables in real time, and actively prevents collision and limits dangerous actions to protect the platform and the safety of the operating personnel.

[0061] Those skilled in the art should understand that the embodiments of the application can be provided as a method, a system, or a computer program product. Therefore, the application can be in the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the application can be in the form of a computer program product implemented on one or more computer usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer usable program code.

[0062] The computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart block or blocks. Figure 1 one or more flowcharts and / or blocks Figure 1 means for functionally implementing the steps listed in the flowchart block or blocks.

[0063] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instructions which implement the function specified in the flowchart block or blocks. Figure 1 one or more flowcharts and / or blocks Figure 1 means for functionally implementing the steps listed in the flowchart block or blocks.

[0064] The computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart block or blocks. Figure 1 one or more flowcharts and / or blocks Figure 1 means for functionally implementing the steps listed in the flowchart block or blocks.

[0065] While the preferred embodiments of the application have been described, additional variations and modifications can be employed by those skilled in the art. Therefore, the claimed application is intended to cover all such additional variations and modifications as fall within the true spirit and scope of the application.

[0066] Obviously, numerous modifications and variations of the present application are possible in light of the above teachings. It is therefore to be understood that within the scope of the appended claims and their equivalents, the application can be practiced otherwise than as specifically described.

Claims

1. A collision control system of a three-platform catenary maintenance vehicle, characterized in that, The detection device comprises a PLC whole machine controller connected with the detection device, and the detection device comprises: An inclination sensor and a plurality of pull wire sensors are used to obtain the pose data of the main platform, the first side platform and the second side platform of the three platforms; Two groups of ultrasonic sensors are respectively used to acquire the distance d of the obstacles in the detection range of the ultrasonic sensors on both sides of the two side platforms U ; Two laser radars are respectively used to acquire the distance d of the obstacles in the detection range of the laser radars on both sides of the two side platforms R ; wherein the laser radars are used to detect the obstacles in the detection blind area of the ultrasonic sensors; The PLC whole machine controller is used to: According to the pose data and the tunnel limit, tunnel anti-collision control is performed; In the case that the three platforms and the tunnel do not collide, according to the distance d of the obstacle in the detection range of the ultrasonic sensor U Carry out obstacle anti-collision control; In the case that there is no obstacle within the detection range of the ultrasonic sensor, the distance d of the obstacle within the detection range of the laser radar is determined according to the laser radar R Obstacle collision avoidance control is performed.

2. The collision control system of claim 1, wherein, The inclination sensor is fixed on the main platform to obtain the inclination data θ of the three platforms; Each pull wire sensor comprises: A main platform pull-up pull wire sensor is used to obtain the vertical pull-up distance △h0 of the main platform when the main platform is unfolded; A first side platform pull-up pull wire sensor is used to obtain the vertical pull-up distance △h1 of the first side platform when the first side platform is unfolded; A second side platform pull-up pull wire sensor is used to obtain the vertical pull-up distance △h2 of the second side platform when the second side platform is unfolded; A first side platform pull-out pull wire sensor is used to obtain the pull-out distance △l1 of the first side platform when the first side platform is horizontally pushed out; A second side platform pull-out pull wire sensor is used to obtain the pull-out distance △l2 of the second side platform when the second side platform is horizontally pushed out.

3. The collision control system of claim 2, wherein, According to the pose data and the tunnel limit, tunnel anti-collision control is performed, and specifically comprises calculating: The height of the main platform from the ground h MG : ； Maximum horizontal lateral distance l of the main platform from the center of the track MG : ； wherein h BG is the height of the base of the three platforms from the ground, h 00 is the height of the base of the three platforms when the main platform is fully retracted, h M is the height of the main platform basket itself, l M is the width of the main platform, and θ is the angle of inclination data of the three platforms.

4. The collision control system of claim 3, wherein According to the pose data and the tunnel limit, tunnel anti-collision control is performed, and specifically further comprises calculating: The height h of the first side platform from the ground 1SG : ； The height h of the second side platform from the ground 2SG : ； The maximum horizontal distance l from the center of the base to the first side platform 1SG As follows: ； The maximum horizontal distance l from the center of the base to the platform on the second side 2SG As follows: ； wherein h 10 is the height of the base from the three platforms when the first side platform is fully retracted, h 1S is the height of the first side platform basket itself; h 20 h is the height of the base of the third platform from the fully retracted second side platform 2S h is the height of the basket of the second side platform h SM is the distance between the bottom of the side pushing device and the bottom surface of the main platform, l 10 is the lateral width of the first side platform, and △l1 is the pulling-out distance of the first side platform when the first side platform is horizontally pushed out, l 20 is the lateral width of the second side platform, and △l2 is the pulling-out distance of the second side platform when the second side platform is horizontally pushed out.

5. The collision control system of claim 4, wherein, According to the pose data and the tunnel limit, three-platform and tunnel anti-collision control is performed, and specifically further comprises: In l MG ≥0.5l 0L If the case, then the "main platform and tunnel exist collision" warning; In the case of l MG <0.5l 0L , and in the case of l 1SG ≥0.5l 1L , the "No. 1 side platform and tunnel collision" warning is given. In the case of l MG <0.5l 0L , and l 1SG <0.5l 1L , and l 2SG ≥0.5l 2L , the "No. 2 side platform and tunnel collision" warning is given. In the case of l MG <0.5l 0L , and l 1SG <0.5l 1L , and l 2SG <0.5l 2L , then the three platforms and the tunnel do not collide. wherein l 0L is the height of the tunnel h MG is the height of the tunnel h 1L is the height of the tunnel h 1SG is the height of the tunnel h 2L is the height of the tunnel h 2SG is the height of the tunnel h 6. The collision control system of claim 5, wherein, In the case that the three platforms and the tunnel do not collide, according to the distance d of the obstacle in the detection range of the ultrasonic sensor U The obstacle collision avoidance control is performed, specifically including: Obtaining the distance d of the obstacle within the detection range of the ultrasonic sensor U ; In the case of 0.5≤d U In the case of 1, a primary warning of "collision between the main platform and the nearby obstacle" is given. In the case of 0.2≤d U In the case of 0.5, a secondary warning of "collision of the main platform with the nearby obstacle" is given.

7. The collision control system of claim 6, wherein, In the case of no obstacle within the detection range of the three platforms and the ultrasonic sensor, according to the distance d of the obstacle within the detection range of the laser radar R Carrying out obstacle anti-collision control, specifically including: Obtaining a distance d of an obstacle within a detection range of a laser radar R ; In the case where l , a warning of "collision of the main platform with an extremely close obstacle" is given; where l S is the side platform length, h S is the height of the side platform; In the case that the tunnel collision control for the next time slot is judged to be performed; Wherein, the tunnel anti-collision control of the next time slot refers to: according to the pose data and the tunnel limit, tunnel anti-collision control is performed for the next time slot.

8. A collision control method of a three-platform catenary maintenance vehicle, characterized in that, The method comprises the following steps: According to the pose data and the tunnel limit, tunnel anti-collision control is performed; In the case that the three platforms and the tunnel do not collide, according to the distance d of the obstacle in the detection range of the ultrasonic sensor U Obstacle collision avoidance control is performed; In the case of no obstacle within the detection range of the three platforms and the ultrasonic sensor, according to the distance d of the obstacle within the detection range of the laser radar R Obstacle collision avoidance control is performed.

9. The collision control method according to claim 8, characterized by, According to the pose data and the tunnel limit, tunnel anti-collision control is performed, and specifically comprises: From the pull wire sensor, the three-platform pull-up data △h0, △h1, △h2, and the side platform pull-out data △l1, △l2 are obtained, and the platform inclination data θ is obtained from the inclination sensor; h based on three-platform pose data from a tether sensor MG , l MG h based on side-platform pose data 1SG , l 1SG h 2SG , l 2SG ; According to the tunnel limit, three-platform anti-collision prediction is performed, and whether l MG ≥ 0.5l 0L is established: If yes, a warning is performed; Not true, then determine l 1SG ≥ 0.5l 1L Whether it is true: If yes, a warning is performed; Not true, then determine l 2SG ≥ 0.5l 2L Whether it is true: If yes, a warning is performed; Not, according to ultrasonic sensor detection range within the obstacle distance d U Obstacle collision avoidance control is performed; wherein l 0L is the height of the tunnel h MG is the height of the tunnel h 1L is the height of the tunnel h 1SG is the height of the tunnel h 2L is the height of the tunnel h 2SG is the height of the tunnel h The height of the main platform from the ground h MG : ； Maximum horizontal lateral distance l of the main platform from the center of the track MG : ； wherein h BG is the height of the base of the three platforms from the ground, h 00 is the height of the base of the three platforms when the main platform is fully retracted, Δh0is the vertical lifting distance of the main platform when the main platform is deployed, h M is the height of the main platform basket itself, l M is the lateral width of the main platform, and θ is the inclination data of the three platforms. The height h of the first side platform from the ground 1SG : ； The height h of the second side platform from the ground 2SG : ； The maximum horizontal distance l from the center of the base to the first side platform 1SG As follows: ； The maximum horizontal distance l from the center of the base to the platform on the second side 2SG As follows: ； wherein h 10 is the height from the base of the three platforms when the first side platform is fully retracted, Ah1 is the vertical lift distance of the first side platform when the first side platform is deployed, h 1S is the height of the first side platform basket itself; h 20 h2 is the height of the second side platform from the base when fully retracted, Ah2 is the vertical lift distance of the second side platform when deployed, h 2S is the height of the second side platform basket itself; h SM is the distance between the bottom of the side pushing device and the bottom surface of the main platform, l 10 is the lateral width of the first side platform, and △l1 is the pulling-out distance of the first side platform when the first side platform is horizontally pushed out, l 20 is the lateral width of the second side platform, and △l2 is the pulling-out distance of the second side platform when the second side platform is horizontally pushed out.

10. The collision control method according to claim 9, characterized by, According to the ultrasonic sensor detection range within the obstacle distance d U The step of performing obstacle collision avoidance control specifically includes: Obtaining ultrasonic sensor detection distance data, obstacle distance d in ultrasonic sensor detection range U ; determine whether 0.5 ≤ d U <1 is true: If yes, a warning is performed; Not true, then determine 0.2≤d U <0.5 is true: If yes, a warning is performed; Not, according to the laser radar detection range within the obstacle distance d R Carrying out obstacle collision avoidance control; According to the distance d of the obstacle in the detection range of the laser radar R The step of performing obstacle collision avoidance control specifically comprises: determination d R ≤sqrt[l S 2 +(0.5h S ) 2 ] is true: If yes, a warning is performed; If no, it is determined whether to perform tunnel anti-collision control of the next time slot; If yes, a warning is performed; wherein, l S is the side platform length, h S is the height of the side platform.

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