Combined side plough obstacle avoidance device for railway ballast distributing vehicle

Abstract

A combined railway ballast distributing vehicle side plough obstacle avoidance device comprises a laser radar arranged above the center line of the front end and the rear end of a ballast distributing and shaping vehicle; the ultrasonic radars are mounted on the front and rear sides of the left side and the right side of the vehicle body respectively and used for obtaining the transverse distance from an obstacle to the vehicle body; the measurement and control system is arranged in the cab, when any radar of the laser radar or the ultrasonic radar detects an obstacle, the left main side moldboard, the right main side moldboard, the front wing moldboard and the rear wing moldboard are controlled to retract to avoid the obstacle, and when neither the laser radar nor the ultrasonic radar detects the obstacle, the left main side moldboard, the right main side moldboard, the front wing moldboard and the rear wing moldboard are controlled to unfold to distribute ballasts and shape ballasts.

Description

TECHNICAL FIELD

[0001] The utility model relates to railway maintenance equipment, especially a railway ballast distributing car side plow obstacle avoidance device. BACKGROUND

[0002] When ballast shaping is carried out by a railway ballast distributing car, the side plow of the ballast shaping car collides with the obstacles on the side of the track, that is, the overhead contact system support, signal machine and other railway facilities, which poses a collision risk. At present, the operation safety is mainly ensured by real-time on-site protection of workers and lookout of drivers, which poses a great safety hazard, and the side plow has collided with the overhead contact system support and other unexpected accidents have occurred many times, causing great economic losses.

[0003] To solve the collision risk of the side plow of the ballast distributing car, CN113985862A uses a laser radar to avoid obstacles, and the laser radar is arranged on the middle part of the left and right main side plow plates. Thus, after the ballast distributing car passes through the obstacles, it cannot be determined whether the obstacles have passed through, and the plow plates cannot be reset in time. SUMMARY

[0004] The utility model provides a railway ballast distributing car side plow obstacle avoidance device with high obstacle avoidance accuracy, which can effectively meet the obstacle avoidance requirements of the side plow of the ballast shaping car and ensure the safety of the operation.

[0005] To achieve the above-mentioned purpose, the utility model adopts the following technical solutions:

[0006] A railway ballast distributing car side plow obstacle avoidance device comprises

[0007] A laser radar is arranged above the center line of the front and rear ends of the ballast shaping car.

[0008] An ultrasonic radar is installed on the left side and the right side of the car body, respectively, and is used to obtain the lateral distance of the obstacles from the car body.

[0009] A measurement and control system is arranged in the driver's room. When any of the laser radar or the ultrasonic radar detects an obstacle, the left and right main side plow plates and the front and rear wing plow plates are controlled to be retracted to avoid obstacles. When neither of the laser radar and the ultrasonic radar detects an obstacle, the left and right main side plow plates and the front and rear wing plow plates are controlled to be unfolded to distribute and shape the ballast.

[0010] Further, a wing plow angle measuring device and an attitude sensor are further included. The wing plow angle measuring device is arranged near the hinge points of the left and right main side plow plates and the front and rear wing plow plates, respectively. The attitude sensor is arranged on the left and right main side plow plates of the ballast shaping car.

[0011] Further, the wing plow angle measuring device is composed of an angle sensor and a connecting rod mechanism.

[0012] Further, the laser radar is a multi-layer laser radar.

[0013] Further, the attitude sensor is a two-axis tilt sensor.

[0014] Further, a speed sensor is arranged on the vehicle body of the ballast distributing and shaping vehicle.

[0015] Further, a display screen and an audible and visual alarm for displaying the data monitoring result are arranged in the driver's room.

[0016] Technical effects:

[0017] The laser sensor measures fast, has high ranging accuracy and good directivity, and further, the ultrasonic sensor can effectively determine whether the obstacle has completely passed, and ensure that the plow plate is reset in time, so that the railway ballast distributing vehicle side plow obstacle avoidance device with high obstacle avoidance accuracy can effectively meet the obstacle avoidance requirements of the ballast distributing and shaping vehicle side plow, and ensure the operation safety.

[0018] The ultrasonic sensor has the following advantages: strong environmental adaptability, and its performance indicators are not affected in shadow, dust, smoke, water vapor and other environments, and even in extremely harsh working environments, the performance indicators are also slightly affected; and compared with the laser sensor, the ultrasonic sensor is much cheaper and less likely to be damaged. The ultrasonic sensor has the advantages of low cost, fast information data acquisition, light weight, small size and easy installation. The ultrasonic sensor and the laser sensor are reasonably arranged in combination, the ultrasonic sensor is arranged at a position close to the two side ballasts and obstacles on the left and right sides, which is also a position with poor environment, and the laser sensor is arranged above the center line of the front and rear ends of the ballast distributing and shaping vehicle, which is a position with relatively good environment, and the laser sensor can also be used to perform good obstacle avoidance operation by taking advantage of the good directivity and fast response of the laser sensor. The two cooperate with each other, which not only ensures the obstacle avoidance requirement, but also greatly improves the obstacle avoidance effect. BRIEF DESCRIPTION OF DRAWINGS

[0019] Figure 1 is a schematic diagram of the overall arrangement structure of the utility model;

[0020] Fig. 1 is a schematic diagram of the overall arrangement structure of the utility model; DETAILED DESCRIPTION

[0021] In order to make the purpose, technical scheme and advantages of the embodiments of the utility model clearer, the technical scheme of the embodiments of the utility model will be described clearly and completely below in combination with the drawings of the embodiments of the utility model. Obviously, the described embodiments are part of the embodiments of the utility model, rather than all the embodiments. Based on the described embodiments of the utility model, all other embodiments obtained by those skilled in the art belong to the scope of protection of the utility model.

[0022] As shown in the figure, the railway ballast distributing vehicle side plow obstacle avoidance device disclosed by the utility model comprises

[0023] The laser radar is arranged at the position above the center line of the front and rear ends of the ballast distributing and shaping vehicle, and specifically is the first laser radar 14 and the second laser radar 6.

[0024] The ultrasonic radar is respectively installed at the front and rear of the left side and the front and rear of the right side of the vehicle body, and is used for acquiring the lateral distance of the obstacle from the vehicle body, and specifically is the first ultrasonic radar 2 and the second ultrasonic radar 10.

[0025] The measurement and control system 7 is arranged in the cab, when any radar of the laser radar or the ultrasonic radar detects the obstacle, the left and right side main side plow plates and the front and rear wing plow plates 5 are controlled to be retracted to avoid the obstacle, when the laser radar and the ultrasonic radar do not detect the obstacle, the left and right side main side plow plates and the front and rear wing plow plates 5 are controlled to be unfolded to distribute and shape the ballast.

[0026] Further, the wing plow angle measuring device and the attitude sensor are further included, the wing plow angle measuring device is respectively arranged near the hinge joint of the left and right side main side plow plates and the front and rear wing plow plates, and specifically is the first wing plow angle measuring device 1, the second wing plow angle measuring device 4, the third wing plow angle measuring device 11 and the fourth wing plow angle measuring device 8, and the attitude sensor is respectively arranged on the left and right main side plow plates of the ballast distributing and shaping vehicle, and specifically is the first attitude sensor 3 and the second attitude sensor 9.

[0027] Further, the wing plow angle measuring device is composed of an angle sensor and a connecting rod mechanism.

[0028] Further, the laser radar is a multilayer laser radar.

[0029] Further, the attitude sensor is a double-axis inclination sensor.

[0030] Further, a speed sensor is further arranged on the vehicle body of the ballast distributing and shaping vehicle.

[0031] Further, a display screen 13 and an audible and visual alarm 15 for displaying the monitoring result are arranged in the cab.

[0032] In use of the system, the laser radar detects the obstacle by scanning, the control system retracts the left and right main side plough plates and the front and rear wing plough plates, then the ultrasonic radar monitors the lateral distance in real time when the ball distributing vehicle passes through the obstacle, only when all the ultrasonic radars detect the distance greater than the specified distance, the signal of no obstacle is sent to the control system, further, the first laser radar always detects the front obstacle, if neither the laser radar nor the ultrasonic radar detects the obstacle, the control system deploys the left and right main side plough plates and the front and rear wing plough plates to distribute and shape the ball.

[0033] Finally, it should be noted that: the above examples are used to illustrate the technical solutions of the present application, but not to limit it; although the present application has been described in detail with reference to the foregoing examples, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing examples, or make equivalent replacement for part of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A side-plough obstacle-avoiding device for a combined ballast distribution and maintenance vehicle, characterized in that Comprising A laser radar is arranged above the center line of the front and rear ends of the ballast distributing and shaping vehicle; An ultrasonic radar is arranged on the left and right sides of the front and rear of the vehicle body respectively, for obtaining the lateral distance of the obstacle from the vehicle body; A measurement and control system is arranged in the cab, when any of the laser radar or ultrasonic radar detects an obstacle, the left and right main side plows and the front and rear wing plows are controlled to be retracted to avoid the obstacle, when neither of the laser radar and ultrasonic radar detects an obstacle, the left and right main side plows and the front and rear wing plows are controlled to be unfolded for ballast distributing and shaping.

2. The side-plough obstacle avoidance device for a ballast regulator car as claimed in claim 1, wherein Further comprising a wing plow turning angle measuring device and an attitude sensor, the wing plow turning angle measuring device is arranged near the hinge points of the left and right main side plows and the front and rear wing plows respectively, and the attitude sensor is arranged on the left and right main side plows of the ballast distributing and shaping vehicle respectively.

3. The side-plough obstacle avoidance device for a ballast regulator car as claimed in claim 2, wherein The wing plow turning angle measuring device is composed of a turning angle sensor and a connecting rod mechanism.

4. The side-plough obstacle avoidance device for a ballast regulator car as claimed in claim 1, wherein The laser radar is a multi-layer laser radar.

5. The side-plough obstacle avoidance device for a ballast regulator car as claimed in claim 2, wherein The attitude sensor is a two-axis tilt sensor.

6. A side-plough obstacle avoidance device for a ballast regulator car as claimed in any one of claims 1 to 5, characterised in that, A speed sensor is also arranged on the vehicle body of the ballast distributing and shaping vehicle.

7. The side-plough obstacle-avoidance device of a ballast regulator car according to any one of claims 1 to 5, characterized in that A display screen and an audible and visual alarm are arranged in the cab for displaying the monitoring results.

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