Subway door V-shaped adjusting auxiliary device based on TOF laser ranging and BLE

Abstract

The utility model discloses a metro door V-shaped adjusting auxiliary device based on TOF laser ranging and Bluetooth BLE. The metro door V-shaped adjusting auxiliary device comprises a laser ranging host installed on the upper portion of a door and a laser ranging slave installed on the lower portion of the door. Each of the laser ranging host and the laser ranging slave comprises a TOF (Time of Flight) laser ranging module, a Bluetooth BLE (Bluetooth Low Energy) communication module, an operation module and a power supply module, and the opening degree of the upper part and the lower part of the vehicle door can be measured in real time by utilizing the two TOF laser ranging modules through the cooperation of the laser ranging host and the laser ranging slave which are arranged on the vehicle door; the gap difference between the upper part and the lower part of the subway train door can be detected in real time, so that an operator can be assisted to complete V-shaped adjustment of the train door at one time without reworking, the operator can screw a V-shaped adjusting bolt of the train door by a hand through a tool during adjustment, and only needs to pay attention to a measurement result in real time, and when the real-time measurement result falls into a qualified interval, the operator can conveniently adjust the V-shaped adjustment bolt. And the hand operation can be stopped.

Description

Technical Field

[0001] The utility model relates to the technical field of subway train passenger compartment door inspection and maintenance, in particular to a subway door V-shaped adjustment auxiliary device based on TOF laser ranging and Bluetooth BLE. Background Art

[0002] Since the driving mechanism of the subway door is located at the top of the door, and the lower part is a driven structure. In order to ensure that there is no gap leakage when the subway door is closed, the door will be adjusted to be not perpendicular to the ground, and the two doors are not parallel. When the door is opened, the gap of the door appears larger at the top and smaller at the bottom. Due to the above settings, the actual configuration of the door is very similar to the English letter V, so this phenomenon is called "door V shape". In order to ensure that the door can maintain the above configuration during subway operation, the door V shape needs to be checked and adjusted during the inspection of the subway train passenger compartment door.

[0003] At present, the inspection and adjustment of the V-shape of the door mainly relies on the tool of steel ruler or tape measure. The specific operation steps are as follows:

[0004] 1. Open the door to a certain degree

[0005] 2. Use a ruler to measure the opening of the upper part of the door

[0006] 3. Use a ruler to measure the lower door opening

[0007] 4. Subtract the lower door opening from the upper door opening measured above.

[0008] 5. If it meets the requirements, close the door and the operation is completed. If it does not meet the requirements, adjust the angle of the door. After adjustment, return to step 2 and measure again.

[0009] The biggest flaw in the above measurement steps is that if the measurement result does not meet the requirements at step 5, adjustments need to be made. However, during the adjustment process, the operator cannot know the current V-shaped data in real time and can only rely on feeling to make adjustments. After the adjustment is completed, the new adjustment result can only be known after completing steps 2, 3, and 4. However, the above adjustment results may still not meet the requirements, and there may be "over-adjustment" or "under-adjustment", which may bring about the possibility of continuous rework. The operator needs to repeat steps 2 to 5 continuously, which reduces efficiency and places high demands on the operator's feel and experience. Therefore, we need to propose a subway door V-shaped adjustment auxiliary device based on TOF laser ranging and Bluetooth BLE to solve the above problems, which can indicate the measurement results in real time during the operator's V-shaped adjustment process. Utility Model Content

[0010] The purpose of the utility model is to provide a subway door V-shaped adjustment auxiliary device based on TOF laser ranging and Bluetooth BLE, which can indicate the measurement results in real time during the operator's V-shaped adjustment process. When the real-time measurement results fall into the qualified interval, the operation adjustment operation can be completed directly without secondary measurement, so as to solve the problems raised in the background technology.

[0011] To achieve the above purpose, the utility model provides the following technical solutions: a subway door V-shaped adjustment auxiliary device based on TOF laser ranging and Bluetooth BLE, comprising a laser ranging host installed on the upper part of the door and a laser ranging slave installed on the lower part of the door;

[0012] The laser ranging host and the laser ranging slave both include a TOF laser ranging module, a Bluetooth BLE communication module, a computing module and a power supply module, and the laser ranging host and the laser ranging slave are electrically connected via the Bluetooth BLE communication module;

[0013] The power module includes a charging module for converting an external voltage into a required voltage and a DC-DC power conversion module connected to the charging module, and the DC-DC power conversion module is electrically connected to the TOF laser ranging module, the Bluetooth BLE communication module and the operation module respectively;

[0014] The laser ranging host also includes a result output module for outputting the difference operation result in real time, and the result output module is electrically connected to the operation module.

[0015] Preferably, it also includes a storage box for placing the laser ranging host and the laser ranging slave, wherein two cavities are arranged in the storage box, a small hole is arranged on one side of each cavity, each cavity is correspondingly provided with a groove, the small hole passes through the cavity and corresponds to the groove, and at least two contacts are arranged in each groove.

[0016] Preferably, it also includes laser baffles respectively installed on the upper part and the lower part of the vehicle door, and the laser ranging host and the laser ranging slave both correspond to the laser baffles through the TOF laser ranging module.

[0017] Preferably, the method further comprises providing a constant distance calibration fixture for the laser ranging host and the laser ranging slave, wherein the calibration fixture is provided with two ranging baffles with a spacing equal to a calibration value.

[0018] Preferably, it also includes a clamping mechanism corresponding to the number of the laser ranging host, the laser ranging slave and the laser baffle and installed on the door leaf, and the laser ranging host, the laser ranging slave and the laser baffle are respectively detachably installed on the clamping mechanism.

[0019] Preferably, the laser ranging host and the laser ranging slave further include a calibration detection input module, and the calibration detection input module includes an input contact module that cooperates with the storage box contacts and a manual input module for manual interactive input.

[0020] Preferably, the power module further includes a battery, and the battery is connected between the charging module and the DC-DC power conversion module.

[0021] Preferably, the result output module is configured as one or more of a display screen, an LED light and a speaker.

[0022] Compared with the prior art, the beneficial effects of the utility model are:

[0023] The utility model can measure the opening of the upper and lower parts of the door in real time by installing a laser ranging host and a laser ranging slave on the door, and using two TOF laser ranging modules. Through the Bluetooth BLE communication module, the lower TOF laser ranging module can send data to the upper TOF laser ranging module. The upper TOF laser ranging module directly subtracts the lower measurement result received through the Bluetooth BLE communication from the upper measurement result, so as to calculate the current V-shaped size of the door, and informs the operator in real time through the result output module. The real-time detection of the gap difference between the upper and lower parts of the subway train door can be realized, so as to assist the operator to complete the V-shaped adjustment of the door at one time without rework. When the operator makes the adjustment, the hand uses the tool to twist the V-shaped adjustment bolt of the door, and only needs to pay attention to the measurement result in real time. When the real-time measurement result falls into the qualified interval, the hand operation can be stopped. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 This is a system block diagram of the utility model;

[0025] Figure 2 This is the block diagram of the laser ranging host system of the utility model;

[0026] Figure 3 This is a block diagram of the laser ranging slave system of the utility model;

[0027] Figure 4 This is a system block diagram of the power module of the utility model. DETAILED DESCRIPTION

[0028] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model. Example

[0029] See also Figure 1-4 The utility model provides a technical solution: a subway door V-shaped adjustment auxiliary device based on TOF laser ranging and Bluetooth BLE, comprising a laser ranging host installed on the upper part of the door and a laser ranging slave installed on the lower part of the door; the laser ranging host and the laser ranging slave both include a TOF laser ranging module, a Bluetooth BLE communication module, a calculation module and a power module, and the laser ranging host and the laser ranging slave are electrically connected through the Bluetooth BLE communication module; the TOF laser ranging module, the Bluetooth BLE communication module, the calculation module, the calibration detection input module, and the power module are all logically functionally divided, not necessarily hardware-isolated modules, and in a specific embodiment, the modules may physically contain each other, such as the calculation module and the Bluetooth BLE communication module may be packaged in the same chip IC.

[0030] During operation, first install the laser ranging host on the upper part of the car door, and install the laser ranging slave on the lower part of the car door. The laser ranging host and the laser ranging slave respectively emit a laser beam through their respective TOF laser ranging modules to hit the opposite door leaf. After the two TOF laser ranging modules receive the bounced back photons, they can obtain the distance measurement results of the upper and lower door openings by multiplying the time by the speed of light and dividing by 2.

[0031] The power module includes a charging module for converting an external voltage into a required voltage and a DC-DC power conversion module connected to the charging module, and the DC-DC power conversion module is electrically connected to the TOF laser ranging module, the Bluetooth BLE communication module and the operation module respectively; through external direct power supply, the external power supply directly supplies electric energy to the charging module, and the charging module provides electric energy to the TOF laser ranging module, the Bluetooth BLE communication module, the operation module, the calibration detection input module, and the result output module through the DC-DC power conversion module.

[0032] The laser ranging host polls the measurement results of the laser ranging slave at very small time intervals through the Bluetooth BLE communication module. After receiving the ranging results, the calculation module obtains the difference calculation result of the upper door opening minus the lower door opening.

[0033] The laser ranging host also includes a result output module for outputting the difference operation result in real time, and the result output module is electrically connected to the operation module; the result output module is configured as one or more of a display screen, an LED light, and a speaker, and uses other devices such as a display screen, an LED light, or a speaker that can interact with human senses to output the above-mentioned difference operation result in real time. Example

[0034] On the basis of implementation 1, the adjustment auxiliary device also includes a storage box for placing the laser ranging host and the laser ranging slave, wherein two cavities are arranged in the storage box, a small hole is arranged on one side of each cavity, and each cavity is correspondingly provided with a groove, the small hole passes through the cavity and corresponds to the groove, and at least two contacts are arranged in each groove. By using the two grooves in the storage box, the laser ranging host and the laser ranging slave can be inserted into the corresponding grooves. There are two cavities in the device storage box, a small hole is arranged on one side of each cavity, and each cavity corresponds to a groove, and the small hole passes through the groove corresponding to the cavity. When the laser ranging host or the laser ranging slave is inserted into the corresponding groove, the laser can be emitted by the TOF laser ranging module. The laser passes through the small hole and hits the cavity wall, and the laser is reflected back to the TOF laser ranging module. The cavity wall has a specific color and laser reflectivity. When the laser ranging host or the laser ranging slave is inserted into the groove, the distance from the wall to the TOF laser ranging module is a certain value. The laser ranging host and the laser ranging slave can realize their own calibration by measuring the fixed value. Example

[0035] On the basis of Example 2, the adjustment auxiliary device also includes laser baffles installed on the upper part and the lower part of the door respectively. The laser distance measuring host and the laser distance measuring slave are both corresponding to the laser baffles through the TOF laser distance measuring module. During operation, the laser distance measuring host is first installed on the upper part of the door, and the laser distance measuring slave is installed on the lower part of the door, and two laser baffles are installed on the door leaves opposite the laser distance measuring host and the laser distance measuring slave respectively, for receiving and reflecting laser beams. The laser distance measuring host and the laser distance measuring slave respectively emit a beam of laser through their respective TOF laser distance measuring modules to hit the corresponding laser baffles. After the two TOF laser distance measuring modules receive the photons that bounce back, the distance measurement results of the upper door opening and the lower door opening can be obtained by multiplying the time by the speed of light and dividing by 2. The use of two laser baffles effectively improves the measurement accuracy. Example

[0036] On the basis of Example 3, the adjustment auxiliary device also includes a constant distance calibration fixture provided for the laser ranging host and the laser ranging slave, and the calibration fixture is provided with two ranging baffles with a spacing of a calibration value. When the laser ranging host or the laser ranging slave is installed on the calibration fixture, the laser ranging host or the laser ranging slave is switched to the calibration mode to achieve calibration. Example

[0037] On the basis of Example 4, the adjustment auxiliary device also includes a clamping mechanism corresponding to the number of laser ranging host, laser ranging slave and laser baffle and installed on the door leaf of the vehicle door. The laser ranging host, laser ranging slave and laser baffle are respectively detachably installed on the clamping mechanism. The clamping mechanism can conveniently and firmly install the above-mentioned laser ranging host, laser ranging slave and laser baffle on the door leaf of the vehicle door. If the clamping mechanism is not equipped according to the specific embodiment, other methods can be used to fix the above-mentioned laser ranging host, laser ranging slave and laser baffle on the door leaf. Example

[0038] On the basis of Example 5, the laser rangefinder host and the laser rangefinder slave further include a calibration detection input module, and the calibration detection input module includes an input contact module that cooperates with the storage box contacts and a manual input module for manual interactive input. Each groove in the above-mentioned device storage box has at least two contacts. When the laser rangefinder host or the laser rangefinder slave is inserted into the corresponding groove, the above-mentioned contacts can be connected to the calibration detection input module to inform the laser rangefinder host or the laser rangefinder slave that it can enter the calibration mode. The input contact module can cooperate with the contacts of the above-mentioned device storage box to receive the signal that the laser rangefinder host or the laser rangefinder slave is inserted into the above-mentioned device storage box. The manual input module is composed of input devices such as buttons and switches that can interact with humans. The operator can force the laser rangefinder host or the laser rangefinder slave to switch to the calibration mode by operating the module. Example

[0039] On the basis of any one of Examples 1-6, the power module further includes a battery, which is connected between the charging module and the DC-DC power conversion module. The battery is responsible for providing energy for the DC-DC power conversion module, and the DC-DC power conversion module can output the required voltage through the DC-DC buck-boost technology, and ensure the stability of the output voltage, and provide the voltage required by the TOF laser ranging module, the Bluetooth BLE communication module, the calculation module, the calibration detection input module, and the result output module. The voltages required by the TOF laser ranging module, the Bluetooth BLE communication module, the calculation module, the calibration detection input module, and the result output module may be the same or different. In a specific implementation case, the output of the DC-DC power conversion module can be adjusted as needed. The output of the DC-DC power conversion module may be one or more. The charging module is responsible for converting the external input electrical energy into the voltage required by the battery. When the external power supply is connected, the battery can be charged;

[0040] The power module can also be not equipped with a battery and a charging module. It can be directly powered by an external power supply. The external power supply directly supplies electric energy to the DC-DC power conversion module, and then the DC-DC power conversion module provides electric energy for the TOF laser ranging module, the Bluetooth BLE communication module, the calculation module, the calibration detection input module, and the result output module. Example

[0041] The device designed for the Nanjing Metro Line 7 subway train is a specific embodiment:

[0042] The laser distance measurement host and laser distance measurement slave use VL53L0X as the TOF laser distance measurement module, and the CH582M chip as the Bluetooth BLE communication module and operation module. The VL53L0X and CH582M chips are connected using the I2C communication protocol. The corresponding control program is burned into the CH582M, which can continuously collect the laser distance measurement of the VL53L0X after the device is powered on and initialized. Bluetooth BLE communication is realized through the built-in Bluetooth baseband of the CH582M. The measurement results of the laser distance measurement slave are sent to the laser distance measurement host through Bluetooth BLE communication. The laser distance measurement host calculates the measurement results through the built-in operation module of the CH582M chip and displays them on the result output module.

[0043] The power modules of the above-mentioned laser ranging host and laser ranging slave are equipped with lithium batteries. Through the DC-DC power conversion module, one output voltage is converted to 3.3V to power the VL53L0X, and the other output voltage is converted to 2.8V to power the CH582M chip, result output module, and calibration detection input module.

[0044] The shells of the above-mentioned laser ranging host, laser ranging slave and laser baffle are all made of 3D printing. A clamping structure is designed at the bottom of the shell according to the thickness of the door leaf, which can be easily installed and fixed on the door leaf.

[0045] The above-mentioned equipment storage box is made of 3D printing and has 2 cavities and 2 grooves. There is a small hole on the top of the cavity. The groove can be mechanically matched with the shell of the laser ranging host and the laser ranging slave. There are small holes and PCB circuit boards at the bottom of the groove. There are small holes and corresponding circuits on the PCB circuit board, and two immersion gold pads are designed. These two immersion gold pads can be used as contacts to realize electrical connection with the calibration detection input module to inform the laser ranging host or the laser ranging slave to enter the calibration mode. The small holes at the bottom of the groove, the small holes of the PCB, and the small holes at the top of the cavity are interconnected and will not hinder the passage of the laser. After the laser ranging host or the laser ranging slave is inserted into the groove, the laser passes through the small hole and irradiates the inner wall of the cavity, and is reflected back to the corresponding TOF laser ranging module. In this embodiment, the distance from the TOF laser ranging module to the inner wall of the cavity is 100mm. The calculation module can correct the temperature drift parameters, light drift parameters and other parameters in the control program according to the calibration measurement results to achieve error correction for different temperatures and light environments.

[0046] The calibration detection input module has two metal contacts and one button. The metal contacts can be connected to the PCB gold pads of the device storage box. When the two metal contacts touch the PCB gold pads, the operation module switches the control program to the calibration mode. If the laser rangefinder host or laser rangefinder slave is inserted into the groove, or the laser rangefinder host or laser rangefinder slave is installed on the calibration fixture, the button can be manually pressed to force the laser rangefinder host or laser rangefinder slave to switch to the calibration mode, thereby realizing manual calibration.

[0047] The calibration tool is a 3D printed structure, which involves two baffles with a spacing of 100 mm. The laser ranging host or laser ranging slave can be used to measure this 100 mm distance in the calibration mode, thereby realizing the calibration of the laser ranging host or laser ranging slave.

[0048] In summary, two TOF laser ranging modules can be used to measure the opening of the upper and lower parts of the door in real time. Through the Bluetooth BLE communication module, the lower TOF laser ranging module can send data to the upper TOF laser ranging module. The upper TOF laser ranging module directly subtracts the upper measurement result from the lower measurement result received through Bluetooth BLE communication to calculate the current V-shaped size of the door, and informs the operator in real time through the result output module. The real-time detection of the gap difference between the upper and lower parts of the subway train door can be realized, thereby assisting the operator to complete the V-shaped adjustment of the door at one time without rework. When the operator makes adjustments, the hand relies on the tool to turn the V-shaped adjustment bolt of the door. The operator only needs to pay attention to the measurement results in real time. When the real-time measurement results fall into the qualified range, the hand operation can be stopped.

[0049] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A subway door V-shaped adjustment auxiliary device based on TOF laser ranging and Bluetooth BLE, characterized by: It includes a laser distance measuring host installed on the upper part of the vehicle door and a laser distance measuring slave installed on the lower part of the vehicle door; The laser ranging host and the laser ranging slave both include a TOF laser ranging module, a Bluetooth BLE communication module, a computing module and a power supply module, and the laser ranging host and the laser ranging slave are electrically connected via the Bluetooth BLE communication module; The power module includes a charging module for converting an external voltage into a required voltage and a DC-DC power conversion module connected to the charging module, and the DC-DC power conversion module is electrically connected to the TOF laser ranging module, the Bluetooth BLE communication module and the operation module respectively; The laser ranging host also includes a result output module for outputting the difference operation result in real time, and the result output module is electrically connected to the operation module.

2. The subway door V-shaped adjustment auxiliary device based on TOF laser ranging and Bluetooth BLE according to claim 1 is characterized in that: It also includes a storage box for placing the laser ranging host and the laser ranging slave, wherein two cavities are arranged in the storage box, a small hole is arranged on one side of each cavity, each cavity is correspondingly provided with a groove, the small hole passes through the cavity and corresponds to the groove, and at least two contacts are arranged in each groove.

3. The subway door V-shaped adjustment auxiliary device based on TOF laser ranging and Bluetooth BLE according to claim 1 is characterized in that: It also includes laser baffles respectively installed on the upper part and the lower part of the vehicle door, and the laser ranging host and the laser ranging slave both correspond to the laser baffles through the TOF laser ranging module.

4. The subway door V-shaped adjustment auxiliary device based on TOF laser ranging and Bluetooth BLE according to claim 3 is characterized in that: It also includes a calibration tool for providing a constant distance for the laser ranging host and the laser ranging slave, and the calibration tool is provided with two ranging baffles with a spacing of a calibration value.

5. The subway door V-shaped adjustment auxiliary device based on TOF laser ranging and Bluetooth BLE according to claim 1 is characterized in that: It also includes a clamping mechanism corresponding to the number of the laser ranging host, the laser ranging slave and the laser baffle and installed on the door leaf of the vehicle door. The laser ranging host, the laser ranging slave and the laser baffle are respectively detachably installed on the clamping mechanism.

6. The subway door V-shaped adjustment auxiliary device based on TOF laser ranging and Bluetooth BLE according to claim 5 is characterized in that: The laser distance measurement host and the laser distance measurement slave also include a calibration detection input module, and the calibration detection input module includes an input contact module that cooperates with the storage box contacts and a manual input module for manual interactive input.

7. The subway door V-shaped adjustment auxiliary device based on TOF laser ranging and Bluetooth BLE according to claim 1 is characterized in that: The power module also includes a battery, which is connected between the charging module and the DC-DC power conversion module.

8. The subway door V-shaped adjustment auxiliary device based on TOF laser ranging and Bluetooth BLE according to claim 7 is characterized in that: The result output module is configured as one or more of a display screen, an LED light, and a speaker.

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