Collision control system and control method for three platforms of catenary maintenance vehicle

Abstract

This application relates to the field of collision control technology, and provides a collision control system and method for a three-platform overhead contact line maintenance vehicle. The system includes tilt sensors and multiple cable sensors for acquiring the pose data of the main platform, side platform one, and side platform two; and two sets of ultrasonic sensors for acquiring the distance *d* of obstacles within the detection range of the ultrasonic sensors on both sides of the side platforms. U Two lidar sensors are used to obtain the distance d of obstacles within the detection range of the lidar sensors on both sides of the two side platforms. R LiDAR is used to detect obstacles within the blind zone of ultrasonic sensors; the PLC controller performs tunnel collision avoidance control based on pose data and tunnel clearance; and the distance d between obstacles within the detection range of the ultrasonic sensors is used for detection. U Implement obstacle collision avoidance control; based on the distance d of obstacles within the detection range of the lidar. R This application addresses the technical problem of insufficient accuracy in traditional active collision avoidance methods by implementing obstacle collision avoidance control.

Description

Technical Field

[0001] This application relates to the field of collision control technology, specifically to a collision control system and control method for a three-platform overhead contact line maintenance vehicle. Background Technology

[0002] Existing collision avoidance technologies for vehicle platforms in tunnels, underground passages, underground operations, and above-ground operations largely fall under the category of passive collision avoidance methods based on warning devices. These methods rely on warning devices (mostly fixed to the side walls or limit devices of tunnels or underground passages) using reflective strips / plates, warning lights, or signs to guide and warn oncoming vehicles. When a vehicle gets too close to a warning sign on the tunnel sidewall, passive collision avoidance devices such as rubber plates and springs are used to mitigate the damage to the sign. However, the collision avoidance effect is relatively poor, and the installation and integration of detection equipment is cumbersome. Another category falls under active collision avoidance methods based on controllers. These methods primarily use lasers, radar, and cameras to collect device position and distance information. The central controller controls the platform's actions based on warning signals, position, and vehicle speed to avoid collisions and issue warnings. While the overall performance of active collision avoidance is quite good, lasers, radar, and cameras are greatly affected by environmental interference, and their control algorithms are still somewhat crude and lack precision. Further improvement and refinement are needed based on actual working conditions.

[0003] Therefore, the lack of accuracy in traditional active collision avoidance methods is a technical problem that urgently needs to be solved by those skilled in the art.

[0004] The information disclosed in the background section is only intended to enhance the understanding of the background of this application, and therefore may contain information that is not part of the prior art known to those skilled in the art. Summary of the Invention

[0005] This application provides a collision control system and method for a three-platform overhead contact line maintenance vehicle to solve the technical problem of insufficient accuracy in traditional active collision avoidance methods.

[0006] According to a first aspect of the embodiments of this application, a collision control system for a three-platform overhead contact line maintenance vehicle is provided, including a detection device and a PLC controller connected to the detection device, wherein the detection device includes:

[0007] Tilt sensors and multiple pull-wire sensors are used to acquire pose data of the main platform, side platform 1, and side platform 2 of the three platforms;

[0008] Two sets of ultrasonic sensors are used to acquire the distance d of obstacles within the detection range of the ultrasonic sensors on both sides of the two side platforms. U ;

[0009] Two lidar sensors are used to obtain the distance d of obstacles within the detection range of the lidar sensors on both sides of the two side platforms. R The lidar is used to detect obstacles within the detection blind zone of the ultrasonic sensor.

[0010] The PLC controller is used for:

[0011] Based on pose data and tunnel clearance, tunnel collision avoidance control is implemented.

[0012] 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;

[0013] 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.

[0014] 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:

[0015] Based on pose data and tunnel clearance, tunnel collision avoidance control is implemented.

[0016] 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;

[0017] 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.

[0018] The embodiments of this application, by adopting the above technical solutions, have the following technical effects:

[0019] 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:

[0020] 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.

[0021] 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;

[0022] The third level is based on the distance d of obstacles within the detection range of the lidar. RThis 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.

[0023] 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

[0024] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments of this application and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings:

[0025] Figure 1 This is a schematic diagram of the collision control system of the three-platform overhead contact line maintenance vehicle of this application;

[0026] Figure 2 for Figure 1 The diagram shows the collision control system installed on the three platforms of the overhead contact line maintenance vehicle.

[0027] Figure 3 for Figure 2 Top view;

[0028] Figure 4 for Figure 1 The diagram shows the ultrasonic sensor of the collision control system performing ultrasonic detection.

[0029] Figure 5 for Figure 1 The diagram shows the LiDAR detection of obstacles on any one side platform of the collision control system.

[0030] Figure 6 for Figure 1 A schematic diagram of the three-platform deployment of the collision control system shown.

[0031] 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;

[0032] Figure 8 for Figure 1 A schematic diagram of the collision control system after tilting.

[0033] 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 l1L The clearance of the No. 2 side platform is l 2L A schematic diagram;

[0034] 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.

[0035] Figure label:

[0036] Main platform 10, Side platform 11, Side platform 12

[0037] Main platform lifting cable sensor 20,

[0038] Side platform No. 1 lifting cable sensor 21, side platform No. 2 lifting cable sensor 22.

[0039] Pull-out cable sensor 31 from side platform 1, and pull-out cable sensor 32 from side platform 2.

[0040] 4. Ultrasonic sensor, 5. LiDAR, 6. Tilt sensor. Detailed Implementation

[0041] To make the technical solutions and advantages of the embodiments of this application clearer, the exemplary embodiments of this application will be described in further detail below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not an exhaustive list of all embodiments. It should be noted that, unless otherwise specified, the embodiments and features in the embodiments of this application can be combined with each other.

[0042] The three-platform system of the overhead contact line maintenance vehicle refers to an important component of the vehicle, comprising a main platform and two side platforms. The following is a detailed description of these three platforms:

[0043] 1. Main Platform: Primarily responsible for lifting and lowering operations, providing a stable working platform for maintenance personnel. The lifting mechanism allows for easy adjustment of the platform height to accommodate maintenance needs at different heights along the overhead contact line.

[0044] 2. Side Platforms: In addition to being raised and lowered, these platforms can extend to both sides, increasing the working range and flexibility. These two side platforms allow maintenance personnel to perform comprehensive inspection, maintenance, and upkeep of the overhead contact lines, suspension components, insulators, return wires, and other components.

[0045] 3. Practical Application: In practical applications, such as during the centralized maintenance of the overhead contact line on the Longhai Railway, the DPT three-platform work vehicle can significantly improve maintenance efficiency and enhance the safety of on-site workers by raising and extending the three platforms in sequence.

[0046] In summary, the three-platform overhead contact line maintenance vehicle, with its unique design and powerful functions, provides an efficient and safe solution for the maintenance of overhead contact lines in electrified railways.

[0047] Example 1

[0048] like Figure 1 As shown in the illustration, this application provides a collision control system for a three-platform overhead contact line maintenance vehicle, including a detection device, a PLC controller, an alarm device, and an electro-hydraulic actuator. The detection device can detect the position and posture information of the three platforms and obstacles, and the PLC controller provides a corresponding active anti-collision control method. The purpose of the collision control system is to prevent the three platforms from colliding with obstacles such as overhead contact line cables and tunnel walls during normal or special working conditions (such as high-altitude or inclined movements), and to alert operators, thereby improving the safety performance of equipment and personnel.

[0049] The detection device includes a tilt sensor, multiple cable sensors, two sets of ultrasonic sensors, and two lidar sensors. The collision control system of the three-platform overhead contact line maintenance vehicle in this embodiment collects the platform's own position and obstacle distance information through the detection device; and transmits this information to the PLC controller via a CAN bus. The PLC controller uses a series of geometric parameters and calculations collected by the cable sensors and tilt sensors as the primary basis for judgment, and uses multiple obstacle detection information from ultrasonic sensors and lidar sensors as auxiliary basis for judgment, issuing corresponding control commands. These control commands are then sent to the electro-hydraulic actuator and alarm device via the bus. The electro-hydraulic actuator executes corresponding anti-collision actions according to the issued control commands, prohibiting dangerous operations and preventing potential collision risks. The alarm device, according to the commands, provides corresponding warnings and prompts to the operator through a display, warning lights, and a buzzer using text, images, sound, and light.

[0050] During implementation, such as Figure 1 , Figure 2 and Figure 3 As shown, tilt sensor 6 and multiple pull-wire sensors are used to acquire the pose data of the main platform 10, side platform 11, and side platform 12 of the three platforms;

[0051] Two sets of ultrasonic sensors 4 are used to obtain the distance d of obstacles within the detection range of the ultrasonic sensors on both sides of the two side platforms. U ;

[0052] Two lidar sensors 5 are used to acquire the distance d of obstacles within the detection range of the lidar sensors on both sides of the two side platforms. R The lidar is used to detect obstacles within the detection blind zone of the ultrasonic sensor.

[0053] The PLC controller is used for:

[0054] Based on pose data and tunnel clearance, tunnel collision avoidance control is implemented.

[0055] 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;

[0056] 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.

[0057] 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:

[0058] The first level is to perform tunnel collision avoidance control based on the pose data obtained from the tunnel clearance, tilt sensor 6, and guy wire sensor.

[0059] 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;

[0060] 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.

[0061] 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.

[0062] 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.

[0063] Figure 4 for Figure 1The 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.

[0064] 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.

[0065] 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.

[0066] 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.

[0067] During implementation, such as Figure 2 As shown, there are five pull-wire sensors, namely:

[0068] 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;

[0069] 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.

[0070] 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;

[0071] 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.

[0072] 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.

[0073] 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.

[0074] 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.

[0075] During implementation, tunnel collision avoidance control is carried out based on pose data and tunnel clearance, specifically including the calculation of:

[0076] The highest point of the main platform is at a height h above the ground. MG :

[0077]

[0078] Maximum horizontal lateral distance l from the main platform to the center of the track MG :

[0079] ;

[0080] 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 M θ represents the horizontal width of the main platform, and θ represents the tilt angle data of the three platforms.

[0081] 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 .

[0082] During implementation, tunnel collision avoidance control is carried out based on pose data and tunnel clearance, specifically including the calculation of:

[0083] The height h of the first side platform above the ground 1SG :

[0084]

[0085] The height h of the second side platform above the ground 2SG :

[0086]

[0087] Maximum horizontal distance from the center of the base to the first side platform :

[0088]

[0089] Maximum horizontal distance between the second side platform and the center of the base :

[0090] ;

[0091] 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;

[0092] 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;

[0093] h SM The distance between the bottom of the side thruster and the bottom surface of the main platform is l 10 The horizontal width of the first side platform is given by Δl1, where Δl1 is 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.

[0094] 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. Based on the data of the tunnel where the overhead contact line maintenance vehicle is located and the reference height value, the clearance of the main platform can be determined as l. 0L The clearance of the No. 1 side platform is l 1L The clearance of the No. 2 side platform is l 2L l 0L For tunnel h MGHeight limit, l 1L For tunnel h 1SG Height limit, l 2L For tunnel h 2SG Height limits.

[0095] The collision control system of the three-platform overhead contact line maintenance vehicle in this embodiment of the application uses a timed polling method to acquire data in real time. The system flowchart is as follows: Figure 10 As shown, it is divided into three stages:

[0096] (1) Based on the pose data of the three platforms collected by the guy wire sensor and the tilt sensor, the vertical height above the ground and the horizontal width of the three platforms are calculated, and the anti-collision judgment of the three platforms is made based on the data of the guy wire sensor and the tilt sensor. That is, the tunnel anti-collision control is carried out according to the pose data and the tunnel clearance.

[0097] (2) Based on the information of obstacles such as overhead contact lines and tunnel walls detected by ultrasonic sensors, a three-platform collision avoidance judgment is made based on ultrasonic sensors. That is, under the condition that no collision will occur between the three platforms and the tunnel, the distance d of the obstacles within the detection range of the ultrasonic sensors is used to make the collision avoidance judgment. U Implement obstacle collision avoidance control.

[0098] (3) The system performs a three-platform collision avoidance judgment based on the information of obstacles such as contact network cables and tunnel walls detected by the lidar. That is, when there are no obstacles within the detection range of the three platforms and the ultrasonic sensor, the system determines the collision avoidance based on the distance d of the obstacles within the detection range of the lidar. R Implement obstacle collision avoidance control.

[0099] During implementation, based on pose data and tunnel clearance, three-platform and tunnel collision avoidance control are carried out, specifically including:

[0100] In l MG ≥0.5l 0L In 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.

[0101] 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.

[0102] 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.

[0103] 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.

[0104] 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.

[0105] 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:

[0106] Obtain the distance d of obstacles within the detection range of the ultrasonic sensor. U ;

[0107] In 0.5≤d U If 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.

[0108] 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.

[0109] like Figure 5As 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 .

[0110] 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:

[0111] Obtain the distance d of obstacles within the detection range of the lidar. R ;

[0112] 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's display screen showing the distance in real time, a flashing red warning light alerting the user that the platform is too close to the obstacle, and the platform immediately stopping to avoid a collision. At this point, the platform is only allowed to move in the opposite direction.

[0113] exist In such cases, determine whether to proceed with the next cycle of tunnel collision avoidance control.

[0114] Example 2

[0115] 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:

[0116] Based on pose data and tunnel clearance, tunnel collision avoidance control is implemented.

[0117] 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;

[0118] 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.

[0119] like Figure 10 As shown, the steps for tunnel collision avoidance control based on pose data and tunnel clearance include:

[0120] The data obtained from the pull-wire sensors are the three platforms: pull-up data △h0, △h1, △h2, and side platform pull-out data △l1, △l2. The platform tilt angle data θ is obtained from the tilt angle sensor.

[0121] Calculation of h based on three-platform pose data from a pull-wire sensor MG l MG Side platform pose data calculation h 1SG l 1SG h 2SG l 2SG ;

[0122] Based on the tunnel clearance, a three-platform collision avoidance prediction is performed to determine l MG ≥0.5l 0L Is it true or false?

[0123] If established, an early warning will be issued;

[0124] If not true, then judge l 1SG ≥0.5l 1L Is it true or false?

[0125] If established, an early warning will be issued;

[0126] If not true, then judge l 2SG ≥0.5l 2L Is it true or false?

[0127] If established, an early warning will be issued;

[0128] If this is not the case, then the distance d to the obstacle within the detection range of the ultrasonic sensor shall be used. U Implement obstacle collision avoidance control;

[0129] Among them, l 0L For tunnel h MG Height limit, l 1L For tunnel h 1SG Height limit, l 2L For tunnel h 2SG Height limits;

[0130] The highest point of the main platform is at a height h above the ground. MG :

[0131]

[0132] Maximum horizontal lateral distance l from the main platform to the center of the track MG :

[0133] ;

[0134] 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, and h is the vertical lifting distance of the main platform when the main platform is fully retracted. MThe height of the main platform suspended platform itself, l M θ represents the horizontal width of the main platform, and θ represents the tilt angle data of the three platforms.

[0135] The height h of the first side platform above the ground 1SG :

[0136]

[0137] The height h of the second side platform above the ground 2SG :

[0138]

[0139] The maximum horizontal distance l between the first side platform and the center of the base 1SG They are as follows:

[0140]

[0141] The maximum horizontal distance from the center of the base to the second side platform is l 2SG They are as follows:

[0142] ;

[0143] 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;

[0144] 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;

[0145] h SM The distance between the bottom of the side thruster and the bottom surface of the main platform is l 10 The horizontal width of the first side platform is given by Δl1, where Δl1 is 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.

[0146] like Figure 10 As shown, in practice, the distance d to obstacles within the detection range of the ultrasonic sensor is used. U The steps for obstacle collision avoidance control include:

[0147] Acquire the detection distance data of the ultrasonic sensor, including the distance d of obstacles within the detection range of the ultrasonic sensor. U ;

[0148] Judgment 0.5≤d U Is <1 true?

[0149] If established, an early warning will be issued;

[0150] If this condition is not met, then we determine if 0.2 ≤ d. U Is <0.5 true?

[0151] If established, an early warning will be issued;

[0152] If this is not the case, then the distance d to the obstacle within the detection range of the lidar is used. R Implement obstacle collision avoidance control.

[0153] like Figure 10 As shown, in practice, the distance d to obstacles within the detection range of the lidar is used. R The steps for obstacle collision avoidance control include:

[0154] Determine d R ≤sqrt[l S 2 +(0.5h S ) 2 Is this true?

[0155] If established, an early warning will be issued;

[0156] If the condition is not met, then determine whether to proceed with tunnel collision avoidance control in the next time slot;

[0157] Among them, l S h is the length of the side platform. S The height of the side platform.

[0158] The collision control system and control method of the three-platform overhead contact line maintenance vehicle of this application have the following main advantages:

[0159] (1) Its detection device mainly consists of wire sensors and tilt sensors, supplemented by ultrasonic sensors and lidar. The main information acquisition is less affected by environmental interference and is stable and reliable.

[0160] (2) The provided three-platform anti-collision control method uses a series of geometric parameters collected by pull-wire sensors, tilt sensors and other sensors as the main basis for judgment, which is highly accurate. It also uses multiple obstacle detection such as ultrasonic waves and lidar as auxiliary basis for judgment, which is more reliable.

[0161] (3) The three-platform anti-collision control system provided with PLC controller as the control center has good real-time performance and high safety. It can detect obstacles such as tunnel walls and contact network cables in real time, actively prevent collisions, and limit dangerous actions to protect the platform and the safety of operators.

[0162] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied 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.

[0163] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0164] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0165] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0166] Although preferred embodiments of this application have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments as well as all changes and modifications falling within the scope of this application.

[0167] Obviously, those skilled in the art can make various modifications and variations to this application without departing from the spirit and scope of this application. Therefore, if such modifications and variations fall within the scope of the claims of this application and their equivalents, this application also intends to include such modifications and variations.

Claims

1. A collision control system for a three-platform overhead contact line maintenance vehicle, characterized in that, The system includes a detection device and a PLC controller connected to the detection device. The detection device includes: Tilt sensors and multiple pull-wire sensors are used to acquire pose data of the main platform, side platform 1, and side platform 2 of the three platforms; Two sets of ultrasonic sensors are used to acquire the distance d of obstacles within the detection range of the ultrasonic sensors on both sides of the two side platforms. U ; Two lidar sensors are used to obtain the distance d of obstacles within the detection range of the lidar sensors on both sides of the two side platforms. R 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; Based on pose data and tunnel clearance, three-platform and tunnel collision avoidance control are implemented, specifically including: In l MG ≥0.5l 0L In such cases, an alert will be issued stating that "the main platform is colliding with the tunnel." In l MG <0.5l 0L In the case of, and l 1SG ≥0.5l 1L In such cases, an early warning will be issued stating that "the No. 1 side platform is in collision with the tunnel"; 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, an early warning will be issued stating that "the second side platform is in collision with the tunnel"; 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; Among them, l 0L For tunnel h MG Height limit, l 1L For tunnel h 1SG Height limit, l 2L For tunnel h 2SG Height limits; Maximum horizontal lateral distance l from the main platform to the center of the track MG The maximum horizontal distance l between the No. 1 side platform and the center of the base 1SG The maximum horizontal distance l between the second side platform and the center of the base 2SG The highest point of the main platform is h above the ground. MG The height h of the first side platform above the ground 1SG The height h of the second side platform above the ground 2SG .

2. The collision control system according to claim 1, characterized in that, The tilt sensor is fixed on the main platform to obtain tilt angle data θ of the three platforms; Each of the aforementioned pull-wire sensors includes: The main platform lifting cable sensor is used to obtain the vertical lifting distance △h0 of the main platform when it is deployed; The No. 1 side platform lifting cable sensor 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 is used to obtain the vertical lifting distance △h2 of the second side platform when it is deployed; The pull-out cable sensor of the No. 1 side platform is used to obtain the pull-out distance △l1 of the No. 1 side platform when it is pushed out horizontally; The pull-out sensor for the second side platform is used to obtain the pull-out distance △l2 of the second side platform when it is pushed out horizontally.

3. The collision control system according to claim 2, characterized in that, Based on pose data and tunnel clearance, tunnel collision avoidance control is implemented, specifically including the calculation of: The highest point of the main platform is at a height h above the ground. MG : ； 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 base of the three platforms when the main platform is fully retracted, h M The height of the main platform suspended platform itself, l M θ represents the horizontal width of the main platform, and θ represents the tilt angle data of the three platforms.

4. The collision control system according to claim 3, characterized in that, Based on pose data and tunnel clearance, tunnel collision avoidance control is implemented, which specifically includes calculating: The height h of the first side platform above the ground 1SG : ； The height h of the second side platform above the ground 2SG : ； The maximum horizontal distance l between the first side platform and the center of the base 1SG They are as follows: ； The maximum horizontal distance from the center of the base to the second side platform is l 2SG They are as follows: ； Among them, h 10 h is the height of the first side platform from the base of the third platform when the first side platform is fully retracted. 1S The height of the suspended platform on side platform one; h 20 h is the height of the second side platform from the base of the third platform when the second side platform is fully retracted. 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 The horizontal width of the first side platform is given by Δl1, where Δl1 is 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.

5. The collision control system according to claim 4, characterized in that, 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 Obstacle collision avoidance control specifically includes: Obtain the distance d of obstacles within the detection range of the ultrasonic sensor. U ; In 0.5m≤d U If the distance is less than 1m, a Level 1 warning will be issued indicating that "the main platform is colliding with a nearby obstacle". When 0.2m≤d U If the distance is less than 0.5m, a Level 2 warning will be issued indicating that "the main platform is colliding with a nearby obstacle".

6. The collision control system according to claim 5, characterized in that, 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 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 stating that "the main platform is colliding with a very nearby obstacle"; among which, l S h is the length of the side platform. S The height of the side platform; exist In this case, determine whether to implement tunnel collision avoidance control in the next time slot; Among them, tunnel collision avoidance control in the next time slot refers to: for the next time slot, tunnel collision avoidance control is carried out based on pose data and tunnel clearance.

7. A collision control method for a three-platform overhead contact line maintenance vehicle according to any one of claims 1 to 6, characterized in that, 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; 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.

8. The collision control method according to claim 7, characterized in that, The steps for tunnel collision avoidance control based on pose data and tunnel clearance include: The data obtained from the pull-wire sensors are the three platforms: pull-up data △h0, △h1, △h2, and side platform pull-out data △l1, △l2. The platform tilt angle data θ is obtained from the tilt angle sensor. Calculation of h based on three-platform pose data from a pull-wire sensor MG l MG Side platform pose data calculation h 1SG l 1SG h 2SG l 2SG ; Based on the tunnel clearance, a three-platform collision avoidance prediction is performed to determine l MG ≥0.5l 0L Is it true or false? If established, an early warning will be issued; If not true, then judge l 1SG ≥0.5l 1L Is it true or false? If established, an early warning will be issued; If not true, then judge l 2SG ≥0.5l 2L Is it true or false? If established, an early warning will be issued; If this is not the case, then the distance d to the obstacle within the detection range of the ultrasonic sensor shall be used. U Implement obstacle collision avoidance control; Among them, l 0L For tunnel h MG Height limit, l 1L For tunnel h 1SG Height limit, l 2L For tunnel h 2SG Height limits; The highest point of the main platform is at a height h above the ground. MG : ； 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, and h is the vertical lifting distance of the main platform when the main platform is fully retracted. M The height of the main platform suspended platform itself, l M θ represents the horizontal width of the main platform, and θ represents the tilt angle data of the three platforms. The height h of the first side platform above the ground 1SG : ； The height h of the second side platform above the ground 2SG : ； The maximum horizontal distance l between the first side platform and the center of the base 1SG They are as follows: ； The maximum horizontal distance from the center of the base to the second side platform is l 2SG They are as follows: ； 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 The horizontal width of the first side platform is given by Δl1, where Δl1 is 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.

9. The collision control method according to claim 8, characterized in that, Based on the distance d of the obstacle within the detection range of the ultrasonic sensor U The steps for obstacle collision avoidance control include: Acquire the detection distance data of the ultrasonic sensor, including the distance d of obstacles within the detection range of the ultrasonic sensor. U ; Judgment 0.5m≤d U Is <1m true? If established, an early warning will be issued; If this condition is not met, then we determine if 0.2m ≤ d. U Is <0.5m true? If established, an early warning will be issued; If this is not the case, then the distance d to the obstacle within the detection range of the lidar is used. R Implement obstacle collision avoidance control; Based on the distance d of obstacles within the detection range of the lidar R The steps for obstacle collision avoidance control include: Determine d R ≤ Is it true or false? If established, an early warning will be issued; If the condition is not met, then determine whether to proceed with tunnel collision avoidance control in the next time slot; Among them, l S h is the length of the side platform. S The height of the side platform.

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