Obstacle avoidance system for material transportation device of large road maintenance machine

Abstract

The utility model discloses an obstacle avoidance system for a material transportation device of a large-scale road maintenance machine, which belongs to the technical field of obstacle avoidance of transportation devices and comprises a rotary conveying belt obstacle avoidance module and obstacle avoidance radars, the obstacle avoidance radars comprise a left obstacle avoidance radar and a right obstacle avoidance radar, and the left obstacle avoidance radar is arranged on the left side of the front end of a rotary conveying belt. The right side obstacle avoidance radar is arranged on the right side of the throwing belt rotation conveying belt; the obstacle avoidance radar is connected with the voice alarm; the main dirty soil belt loading capacity detection module comprises three range radars, the three range radars are sequentially arranged on the rear portion of a main conveying belt of a material vehicle from top to bottom, a main dirty soil belt is divided into three sections, and each range radar detects one section; the wireless remote control module comprises a wireless remote control device, the wireless remote control device is connected with a voice alarm, a receiving device of the wireless remote control device is arranged on the conveying device, and meanwhile image acquisition devices are arranged on the rotary conveying belt and the main dirty soil belt respectively. The working environment of operators is improved, and operation safety is guaranteed.

Description

Technical Field

[0001] This utility model belongs to the field of obstacle avoidance technology for transportation devices, specifically relating to an obstacle avoidance system for a large-scale road maintenance machinery material transportation device. Background Technology

[0002] Material transport cars and screening machines are used for track cleaning, screening, and sleeper replacement overhauls. The loading status of the main sludge belt on the WY-100 material transport car still requires operators to climb to a specific location for on-site observation and real-time monitoring. This traditional monitoring method is not only labor-intensive, but also carries high safety risks due to personnel working at heights, such as the possibility of serious personal injury from falls. Furthermore, the risk of collisions with obstacles on both sides of the railway always exists during the operation of the material transport car's rotating conveyor belt and the screening machine's parabolic conveyor belt. Once a collision occurs, it could potentially damage railway facilities, directly affecting the normal operation of trains and causing serious consequences such as train delays and cancellations, posing a significant threat to the safety and efficiency of railway transportation.

[0003] Of particular concern is that workers at the material transport vehicle's work stations are exposed to the open air for extended periods, with dust filling the work area, creating an extremely harsh working environment. Prolonged exposure to such dust can easily damage the workers' respiratory systems, leading to occupational diseases such as pneumoconiosis. Furthermore, the operation of the screening machine and material transport vehicles currently relies heavily on manual labor, meaning that safety risk control depends almost entirely on the operator's skill level and ability to anticipate potential risks. This over-reliance on manual labor presents significant uncertainties and limitations, as even experienced operators struggle to maintain high levels of concentration and precise operation during prolonged, high-intensity work. Human error or misjudgment can easily lead to accidents.

[0004] Taking the WY-100 material transport vehicle as an example, its operation mainly relies on operators standing on the conveyor belt platform. In adverse weather conditions, such as dusty weather, a large amount of dust severely impairs the operator's vision, making it difficult to clearly observe the work site and increasing the risk of misoperation. In rainy or snowy weather, the slippery platform easily causes operators to slip and fall. In high-temperature, direct sunlight environments, operators exposed to the sun for extended periods not only face the risk of heatstroke but may also suffer burns due to the excessively high surface temperature of the equipment. Furthermore, due to the lack of effective protective facilities, operators are almost powerless against these harsh working environments, posing a significant threat to their physical and mental health. This further reduces work efficiency and quality, hindering the smooth progress of the entire line's screen cleaning and sleeper replacement overhaul. Utility Model Content

[0005] The purpose of this utility model is to provide an obstacle avoidance system for a large-scale track maintenance machinery material transport device, so as to overcome the shortcomings of the existing technology, which requires manual observation and real-time monitoring, and the risk of the material transport vehicle's rotating conveyor belt and the screen cleaning machine's parabolic belt scraping against obstacles on both sides of the railway when they rotate.

[0006] To achieve the above objectives, this utility model provides the following technical solution:

[0007] A large-scale road maintenance machinery material transport device obstacle avoidance system includes a rotary conveyor belt obstacle avoidance module: used to detect obstacles within the rotation radius of the rotary conveyor belt, including obstacle avoidance radar, the obstacle avoidance radar including a left obstacle avoidance radar and a right obstacle avoidance radar, the left obstacle avoidance radar is located on the left side of the front end of the rotary conveyor belt, and the right obstacle avoidance radar is located on the right side of the rotary conveyor belt; the obstacle avoidance radar is connected to a voice alarm.

[0008] Main waste soil belt loading detection module: includes three ranging radars, which are arranged from top to bottom at the rear of the main conveyor belt of the material vehicle. The main waste soil belt is divided into three sections, and each ranging radar detects one section.

[0009] Wireless remote control module: includes a wireless remote control device, the receiver of which is installed on the transport device, and image acquisition devices are installed on the rotary conveyor belt and the main waste belt respectively.

[0010] Furthermore, the voice alarm is equipped with three ports: the first and second ports are connected to the obstacle avoidance radar, and the third port is connected to the wireless remote control device.

[0011] Furthermore, the scanning area radius of the left obstacle avoidance radar is -20° to 180°, and the scanning area radius of the right obstacle avoidance radar is 20° to 180°. The scanning area includes a bottom scanning area and a middle scanning area. When an obstacle approaches the bottom scanning area, the first port of the voice alarm will sound an alarm, and when an obstacle approaches the middle scanning area, the second port of the voice alarm will sound an alarm.

[0012] Furthermore, the bottom scanning area is defined as the distance between the obstacle and the transport device being 3m, and the middle scanning area is defined as the distance between the obstacle and the transport device being 5m.

[0013] Furthermore, when the left and right obstacle avoidance radars are installed at a height less than 200mm from the ground, their outward tilt angle is greater than 15°.

[0014] Furthermore, the ranging radar forms a 20° angle with the main conveyor belt, and its scanning range is 2m to the left and right and 0.7m to the right and left.

[0015] Furthermore, the left obstacle avoidance radar is installed on the left side of the front end of the rotary conveyor belt via a left radar mounting bracket. The left radar mounting bracket includes a mounting plate, on which a radar mounting seat is provided. A protective plate is provided on one side of the radar mounting seat. The mounting plate is inclined at 15°~20° to the radar mounting seat.

[0016] Furthermore, the right obstacle avoidance radar is installed on the left side of the front end of the rotary conveyor belt via a right radar mounting bracket. The right radar mounting bracket includes a radar mounting base, and a protective plate is provided on one side of the radar mounting base.

[0017] Furthermore, the wireless remote control device employs a four-position remote control handle.

[0018] Furthermore, the image acquisition device employs a camera.

[0019] Compared with the prior art, the present invention has the following beneficial technical effects:

[0020] This utility model provides an obstacle avoidance system for a large-scale track maintenance machinery material transport device. Applicable to WY-100K and WY-100Y material transport vehicles, it utilizes a rotary conveyor belt obstacle avoidance module to provide safety operation prompts when encountering obstacles within the rotation radius. A main sludge belt loading detection module monitors the main sludge belt loading in real time, and a wireless remote control module's image acquisition device monitors the operation of both the main sludge belt and the rotary conveyor belt in real time. The system also allows for remote control of the main sludge belt and the rotary conveyor belt. This utility model's obstacle avoidance system for a large-scale track maintenance machinery material transport device improves the working environment for operators, ensures operational safety, eliminates the need for operators to work at heights, effectively prevents the rotary conveyor belt from colliding with obstacles on both sides of the railway during operation, reduces labor costs, and decreases the number of operators by 50%. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of an obstacle avoidance system for a material transport device for large-scale road maintenance machinery, as described in an embodiment of this utility model. Detailed Implementation

[0022] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the protection scope of the present invention.

[0023] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this utility model are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the utility model described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0024] See Figure 1 An obstacle avoidance system for a large-scale road maintenance machinery material transport device includes a rotary conveyor belt obstacle avoidance module: This module detects obstacles within the rotation radius of the rotary conveyor belt and includes obstacle avoidance radar. The obstacle avoidance radar comprises a left-side obstacle avoidance radar and a right-side obstacle avoidance radar. The left-side obstacle avoidance radar is positioned on the left side of the front end of the rotary conveyor belt, and the right-side obstacle avoidance radar is positioned on the right side of the conveyor belt. The obstacle avoidance radar is connected to a voice alarm. When the installation height of the left-side and right-side obstacle avoidance radars is less than 200mm from the ground, they are tilted outwards at an angle greater than 15°. The left-side obstacle avoidance radar is mounted on the left side of the front end of the rotary conveyor belt via a left-side radar mounting bracket. The left-side radar mounting bracket includes a mounting plate with a radar mounting seat. A protective plate is provided on one side of the radar mounting seat. Depending on the installation position of the radar mounting vehicle and the scanning angle of the radar, the mounting plate is tilted at 15°~20° relative to the radar mounting seat. The right-side obstacle avoidance radar is mounted on the left side of the front end of the rotary conveyor belt via a right-side radar mounting bracket. The right-side radar mounting bracket includes a radar mounting seat, and a protective plate is provided on one side of the radar mounting seat. This structural design provides a stable mounting base for the left-side obstacle avoidance radar, ensuring the radar's positional stability during transport, reducing radar positional shifts or damage caused by vibrations, bumps, and other factors, and guaranteeing the accuracy and reliability of radar detection data.

[0025] The scanning area radius of the left obstacle avoidance radar is -20° to 180°, and the scanning area radius of the right obstacle avoidance radar is 20° to 180°. The scanning area includes a bottom scanning area and a middle scanning area. When an obstacle approaches the bottom scanning area, the first port of the voice alarm sounds; when an obstacle approaches the middle scanning area, the second port of the voice alarm sounds. The voice alarm has three ports, two of which are connected to the obstacle avoidance radar. It can emit different alarm sounds according to the obstacle's approach to different scanning areas. When an obstacle approaches the middle scanning area within 5m, the second port of the voice alarm sounds, reminding the operator to "be aware of obstacle avoidance" so that they can prepare in advance. When an obstacle approaches the bottom scanning area within 3m, the first port of the voice alarm sounds, issuing a "stop" command, forcing the operator to immediately stop the rotating conveyor belt, effectively preventing collision accidents and ensuring operational safety.

[0026] For example, based on the actual construction site conditions, the obstacle avoidance radar output conditions are set: a "Caution: Obstacle Avoidance" warning signal is issued when approaching an obstacle 5m away, and a "Stop" warning signal is issued when approaching an obstacle 3m away. The obstacle avoidance distance can be adjusted arbitrarily through software, and the radar recognition parameters can be modified. The minimum diameter of the object to be recognized is preset to 70mm to avoid false alarms due to the intrusion of small objects. Through the B12XRE9 intermediate relay, the out3 signal port is connected to the in1 port of the voice alarm. When operating in the middle layer area of ​​the radar, the in1 port of the voice alarm is triggered, issuing a "Caution: Obstacle Avoidance" warning signal. The out2 signal port is connected to the B12XRE9 relay, and through the FR207 freewheeling diode of the out2 signal port, it is connected to the in2 port of the voice alarm to cut off the interference of the voice alarm signal to the electromagnetic coil of the B12XRE9 relay. When operating in the bottom layer area of ​​the radar, the in2 port of the voice alarm is triggered, issuing a "Stop" voice prompt, realizing safe obstacle avoidance operation prompts when encountering obstacles within the rotation radius.

[0027] Main waste soil belt loading detection module: includes three ranging radars, which are arranged from top to bottom at the rear of the main conveyor belt of the material vehicle. The main waste soil belt is divided into three sections, and each ranging radar detects one section.

[0028] For example, the ranging radar is at a 20° angle to the main conveyor belt, with a scanning range of 2m to the left and right and 0.7m to the right and low. The radar identification parameters are modified to preset the minimum identification object diameter to 150mm to avoid detection due to small objects intruding. The main sludge belt is divided into 3 sections, and each obstacle avoidance radar detects 1 section. When the loading of a section reaches its peak, the main sludge belt moves to the next detection section, and the next detection section continues to load.

[0029] Wireless remote control module: includes a wireless remote control device, which is connected to a voice alarm. The receiver of the wireless remote control device is installed on the transport device. At the same time, image acquisition devices are installed on the rotary conveyor belt and the main sludge belt. The in3 port of the voice alarm is connected to the wireless remote control device. When the material vehicle engages in behavior that endangers personal safety, or when a vehicle from the adjacent line requires personnel to exit the track, the voice alarm is controlled to output an alarm signal.

[0030] For example, the wireless remote control device uses a four-position remote sensing handle. With this handle, operators can remotely and precisely control the rotary conveyor belt and main waste conveyor belt from a safe location away from the transport equipment. In complex railway construction environments, such as severe weather, dust, rain, snow, and high temperatures, operators do not need to operate directly on the conveyor belt throwing platform, avoiding harm to personnel from harsh environments. Simultaneously, they can better observe the entire work site and flexibly control the start and stop of the conveyor belt and the rotation of the rotary conveyor belt through the remote control handle, improving the convenience and accuracy of operation.

[0031] For example, the image acquisition device uses a camera, in conjunction with image acquisition devices installed on the rotary conveyor belt and the main waste conveyor belt, allowing operators to receive real-time image information from the transportation equipment. These images can intuitively display material transportation, the working status of the conveyor belt, the surrounding environment, and other conditions.

[0032] The above description is merely a preferred embodiment of this utility model and is not intended to limit the utility model in any way. Those skilled in the art can readily implement this utility model based on the accompanying drawings and the above description. However, any modifications, alterations, or variations made by those skilled in the art without departing from the scope of the utility model's technical solution, utilizing the disclosed technical content, are equivalent embodiments of this utility model. Furthermore, any equivalent changes, alterations, or variations made to the above embodiments based on the essential technology of this utility model are still within the protection scope of this utility model's technical solution.

Claims

1. An obstacle avoidance system for a large-scale road maintenance machinery material transport device, characterized in that, include: Rotary conveyor belt obstacle avoidance module: used to detect obstacles within the rotation radius of the rotary conveyor belt, including obstacle avoidance radar, which includes a left obstacle avoidance radar and a right obstacle avoidance radar. The left obstacle avoidance radar is located on the left side of the front end of the rotary conveyor belt, and the right obstacle avoidance radar is located on the right side of the belt throwing rotary conveyor belt; the obstacle avoidance radar is connected to a voice alarm. Main waste soil belt loading detection module: includes three ranging radars, which are arranged from top to bottom at the rear of the main conveyor belt of the material vehicle. The main waste soil belt is divided into three sections, and each ranging radar detects one section. Wireless remote control module: includes a wireless remote control device, which is connected to a voice alarm. The receiver of the wireless remote control device is installed on the transport device, and image acquisition devices are installed on the rotary conveyor belt and the main waste soil belt respectively.

2. The obstacle avoidance system for a large-scale road maintenance machinery material transport device according to claim 1, characterized in that, The voice alarm has three ports: the first and second ports are connected to the obstacle avoidance radar, and the third port is connected to the wireless remote control device.

3. The obstacle avoidance system for a large-scale road maintenance machinery material transport device according to claim 2, characterized in that, The scanning area radius of the left obstacle avoidance radar is -20° to 180°, and the scanning area radius of the right obstacle avoidance radar is 20° to 180°. The scanning area includes a bottom scanning area and a middle scanning area. When an obstacle approaches the bottom scanning area, the first port of the voice alarm will sound an alarm, and when an obstacle approaches the middle scanning area, the second port of the voice alarm will sound an alarm.

4. The obstacle avoidance system for a large-scale road maintenance machinery material transport device according to claim 3, characterized in that, The bottom scanning area is where the obstacle is 3m away from the transport device, and the middle scanning area is where the obstacle is 5m away from the transport device.

5. The obstacle avoidance system for a large-scale road maintenance machinery material transport device according to claim 4, characterized in that, When the left and right obstacle avoidance radars are installed at a height less than 200mm from the ground, they should be tilted outward at an angle greater than 15°.

6. The obstacle avoidance system for a large-scale road maintenance machinery material transport device according to claim 1, characterized in that, The ranging radar forms a 20° angle with the main conveyor belt, and its scanning range is 2m to the left and right and 0.7m to the right and left.

7. The obstacle avoidance system for a large-scale road maintenance machinery material transport device according to claim 1, characterized in that, The left obstacle avoidance radar is installed on the left side of the front end of the rotary conveyor belt via a left radar mounting bracket. The left radar mounting bracket includes a mounting plate, on which a radar mounting seat is provided. A protective plate is provided on one side of the radar mounting seat. The mounting plate is inclined at 15°~20° to the radar mounting seat.

8. The obstacle avoidance system for a large-scale road maintenance machinery material transport device according to claim 1, characterized in that, The right obstacle avoidance radar is mounted on the left side of the front end of the rotary conveyor belt via a right radar mounting bracket. The right radar mounting bracket includes a radar mounting base, and a protective plate is provided on one side of the radar mounting base.

9. The obstacle avoidance system for a large-scale road maintenance machinery material transport device according to claim 1, characterized in that, The wireless remote control device uses a four-position remote control handle.

10. The obstacle avoidance system for a large-scale road maintenance machinery material transport device according to claim 1, characterized in that, The image acquisition device uses a camera.

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