High-precision side plough obstacle avoidance device of railway ballast distributing vehicle

Abstract

A high-precision railway ballast distributing vehicle side plough obstacle avoidance device comprises a middle laser radar arranged above the center line of the front end and the rear end of a ballast distributing shaping vehicle; the end laser radars are arranged at the ends of the wing moldboards; the end laser radar is rotationally connected with the end of the wing moldboard through a posture adjusting device, and the posture adjusting device ensures that the end laser radar always faces the direction perpendicular to the advancing direction of the ballast distributing vehicle. Through cooperation of the two laser radars, the middle laser radar scans and finds obstacles and triggers the ballast distributing vehicle moldboard obstacle avoidance operation, the end laser radars further accurately control the position of the moldboard through scanning, the position of the moldboard is rapidly recovered when the ballast distributing vehicle passes through the obstacles, and more efficient and comprehensive ballast distributing and shaping work is achieved.

Description

Technical Field

[0001] This utility model relates to railway maintenance equipment, and in particular to a side plowing obstacle avoidance device for railway ballast cars. Background Technology

[0002] When ballast is shaped using railway ballast ballast cars, there is a risk of collision between the ballast ballast car's side plow and obstacles along the track, such as overhead contact line supports and signal lights. Currently, safety is mainly ensured through real-time on-site protection by workers and driver lookout, but this poses significant safety hazards. Several accidents, such as side plow collisions with overhead contact line supports, have occurred, resulting in substantial economic losses.

[0003] To address the risk of side-plow collisions by the ballast trolley, CN113985862A uses lidar for obstacle avoidance. However, the lidar is located in the middle of the left and right main plow plates. This makes it impossible to effectively determine whether the obstacle has been cleared after the ballast trolley passes an obstacle, and thus impossible to promptly and effectively reset the plow plates. Furthermore, the lidar located in the middle of the main plow plates cannot precisely control the position of the front and rear plow plates. Especially when encountering complex obstacles, it cannot effectively and promptly switch between obstacle avoidance and ballast shaping, resulting in ineffective ballast shaping of the ballast near obstacles. Utility Model Content

[0004] This invention addresses the aforementioned problems in the prior art by providing a high-precision obstacle avoidance device for the side plowing of railway ballast cars. It can effectively meet the obstacle avoidance requirements of side plowing of ballast shaping cars under complex obstacle conditions, ensuring the effectiveness and safety of the operation.

[0005] To achieve the above objectives, the present invention adopts the following technical solution:

[0006] A high-precision railway ballast distribution car side plow obstacle avoidance device, wherein the ballast distribution car has left and right main side plow plates, and each main side plow plate is provided with front and rear wing plow plates, characterized in that it includes:

[0007] An end-mounted lidar is disposed at the end of each wing plow plate; the end-mounted lidar is rotatably connected to the end of the wing plow plate via an attitude adjustment device, the attitude adjustment device ensuring that the end-mounted lidar is always oriented perpendicular to the direction of travel of the ballast truck;

[0008] The central lidar is positioned above the center line of the front and rear ends of the ballast shaping vehicle.

[0009] The power of the central lidar is greater than that of the end lidar;

[0010] The measurement and control system is located in the driver's cab. When either the end lidar or the middle lidar detects an obstacle, it controls the left and right main side plows and the front and rear wing plows to retract to avoid the obstacle. When neither the end lidar nor the middle lidar detects an obstacle, it controls the left and right main side plows and the front and rear wing plows to unfold for ballast shaping.

[0011] Furthermore, it also includes a wing plow angle measuring device and an attitude sensor. The wing plow angle measuring device is respectively set near the hinge point of the left and right main side plow plates and the front and rear wing plow plates. The attitude sensor is respectively set on the left and right main side plow plates of the ballast shaping vehicle. The wing plow angle measuring device consists of an angle sensor and a linkage mechanism. The measurement and control system controls the rotation of each wing plow individually and positions it through the angle sensor and the linkage structure. The measurement and control system controls the rotation of each main side plow individually and positions it through the attitude sensor.

[0012] Furthermore, the lidar is a multi-layer lidar.

[0013] Furthermore, the attitude sensor is a dual-axis tilt sensor.

[0014] Furthermore, the attitude adjustment device includes a gyroscope and an accelerometer.

[0015] Furthermore, speed sensors are also installed on the body of the ballast shaping vehicle.

[0016] Furthermore, the driver's cab is equipped with a display screen showing the data monitoring results and an audible and visual alarm.

[0017] Technical effects:

[0018] This invention utilizes two types of lidar in combination. The central lidar scans and detects obstacles, triggering the ballast cart's plow plate to avoid obstacles. The end lidar further scans and precisely controls the plow plate's position, quickly restoring the plow plate's position when the ballast cart passes over an obstacle, thus achieving more efficient and comprehensive ballast shaping work. Attached Figure Description

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

[0020] The system includes a first end lidar 16, a second end lidar 18, a third end lidar 24, a fourth end lidar 22, a first middle lidar 26, a second middle lidar 20, a measurement and control system 21, a first attitude sensor 17, a second attitude sensor 23, a display screen 25, and an obstacle 27. Detailed Implementation

[0021] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this utility model. All other embodiments obtained by those skilled in the art based on the described embodiments of this utility model are within the protection scope of this utility model.

[0022] As shown in the figure, the high-precision railway ballast car side plow obstacle avoidance device of this utility model includes a ballast car with left and right main side plow plates, each main side plow plate having front and rear wing plow plates, comprising:

[0023] End-mounted lidars are disposed at the ends of each wing plow plate, namely, first end-mounted lidar 16, second end-mounted lidar 18, third end-mounted lidar 24, and fourth end-mounted lidar 22; the end-mounted lidars are rotatably connected to the ends of the wing plow plates through attitude adjustment devices, and the attitude adjustment devices ensure that the end-mounted lidars are always oriented perpendicular to the direction of travel of the ballast distribution vehicle.

[0024] The central lidars are located above the center line of the front and rear ends of the ballast shaping vehicle, namely the first central lidar 26 and the second central lidar 20.

[0025] The power of the central lidar is greater than that of the end lidar;

[0026] The measurement and control system 21 is installed in the driver's cab. When either the end lidar or the middle lidar detects an obstacle, it controls the left and right main side plows and the front and rear wing plows to retract to avoid the obstacle. When neither the end lidar nor the middle lidar detects an obstacle, it controls the left and right main side plows and the front and rear wing plows to unfold for ballast shaping.

[0027] It also includes a plow angle measuring device and attitude sensors. The plow angle measuring devices are respectively set near the hinge points of the left and right main plow plates and the front and rear plow plates. The attitude sensors are respectively set on the left and right main plow plates of the ballast shaping vehicle, namely the first attitude sensor 17 and the second attitude sensor 23. The plow angle measuring device consists of an angle sensor and a linkage mechanism. The measurement and control system 21 controls each plow to rotate individually and positions it through the angle sensor and the linkage structure. The measurement and control system controls each main plow to rotate individually and positions it through the attitude sensor.

[0028] Furthermore, the lidar is a multi-layer lidar.

[0029] Furthermore, the attitude sensor is a dual-axis tilt sensor.

[0030] Furthermore, the attitude adjustment device includes a gyroscope and an accelerometer.

[0031] Furthermore, speed sensors are also installed on the body of the ballast shaping vehicle.

[0032] Furthermore, the driver's cab is equipped with a display screen 25 that shows the data monitoring results and an audible and visual alarm.

[0033] The obstacle avoidance principle works as follows: when the central lidar detects an obstacle, it triggers the control system to perform obstacle avoidance operation on the plowshare. The end lidars also scan the area. When all end lidars detect that the distance between the obstacle and the plowshare is greater than the safe distance, the plowshare quickly unfolds and resumes its ballast shaping operation. The end lidars are mainly used for close-range detection, and a lower power setting can be used. Through an attitude adjustment device, the end lidars are always oriented perpendicular to the direction of travel of the ballast cart during the unfolding and retraction of the plowshare, thus ensuring real-time dynamic obstacle avoidance protection. The lidar has high accuracy and fast response, which can greatly improve the precise position control of the plowshare, achieve more effective ballast shaping, and avoid the inability to effectively shape ballast near obstacles.

[0034] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this utility model, and not to limit it. Although this utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this utility model.

Claims

1. A high-precision railway ballast distribution car side plow obstacle avoidance device, wherein the ballast distribution car has left and right main side plow plates, and each main side plow plate is provided with front and rear wing plow plates, characterized in that, include: An end-mounted lidar is disposed at the end of each wing plow plate; the end-mounted lidar is rotatably connected to the end of the wing plow plate via an attitude adjustment device, the attitude adjustment device ensuring that the end-mounted lidar is always oriented perpendicular to the direction of travel of the ballast truck; The central lidar is positioned above the center line of the front and rear ends of the ballast shaping vehicle. The power of the central lidar is greater than that of the end lidar; The measurement and control system is located in the driver's cab. When either the end lidar or the middle lidar detects an obstacle, it controls the left and right main side plows and the front and rear wing plows to retract to avoid the obstacle. When neither the end lidar nor the middle lidar detects an obstacle, it controls the left and right main side plows and the front and rear wing plows to unfold for ballast shaping.

2. The high-precision railway ballast car side plow obstacle avoidance device as described in claim 1, characterized in that, It also includes a wing plow angle measuring device and an attitude sensor. The wing plow angle measuring device is respectively set near the hinge point of the left and right main side plow plates and the front and rear wing plow plates. The attitude sensor is respectively set on the left and right main side plow plates of the ballast shaping vehicle. The wing plow angle measuring device consists of an angle sensor and a linkage mechanism. The measurement and control system controls the individual rotation of each wing plow and positions it using the angle sensor and linkage mechanism. The measurement and control system also controls the individual rotation of each main side plow and positions it using an attitude sensor.

3. The high-precision railway ballast car side plowing obstacle avoidance device as described in claim 1, characterized in that, The lidar is a multi-layer lidar.

4. The high-precision railway ballast car side plow obstacle avoidance device as described in claim 2, characterized in that, The attitude sensor is a dual-axis tilt sensor.

5. The high-precision railway ballast car side plow obstacle avoidance device as described in claim 1, characterized in that, The attitude adjustment device includes a gyroscope and an accelerometer.

6. The high-precision railway ballast car side plowing obstacle avoidance device as described in any one of claims 1 to 5, characterized in that, Speed ​​sensors are also installed on the body of the ballast shaping vehicle.

7. The high-precision railway ballast car side plowing obstacle avoidance device as described in any one of claims 1 to 5, characterized in that: The driver's cab is equipped with a display screen showing the data monitoring results and an audible and visual alarm.

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