CN104571106A - Urgent danger prevention device and control method for orchard monorail vehicle - Google Patents
Urgent danger prevention device and control method for orchard monorail vehicle Download PDFInfo
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- CN104571106A CN104571106A CN201410781932.4A CN201410781932A CN104571106A CN 104571106 A CN104571106 A CN 104571106A CN 201410781932 A CN201410781932 A CN 201410781932A CN 104571106 A CN104571106 A CN 104571106A
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Abstract
The invention discloses an urgent danger prevention device and a control method for an orchard monorail vehicle. The urgent danger prevention device comprises a vehicle-mounted subsystem, a rail subsystem and a monitoring server side, wherein the rail subsystem comprises a plurality of rail nodes used for feeding back rail information to the monorail vehicle; the vehicle-mounted subsystem comprises an information processing unit and vehicle-mounted nodes; the monitoring server side is used for receiving data uploaded by the rail nodes, and sending the data through the Internet to a remote computer for analyzing and processing. The method comprises the step of acquiring rail data acquired by the rail nodes, wheel data acquired by the vehicle-mounted nodes, and vehicle body data acquired by the information processing unit at present. Through calculation of the acquired data, whether the monorail vehicle is in danger or not can be judged; when the result shows that the monorail vehicle is in danger, emergency braking is carried out to prevent danger, and the current state of the monorail vehicle is sent to the rail nodes. The urgent danger prevention device and the control method have the advantage that the operating safety of the orchard monorail vehicle on a rail can be improved to the utmost extent according to the operating state of the orchard monorail vehicle on the rail.
Description
Technical field
The present invention relates to the research field of orchard gyrocar, particularly a kind of emergency escape device for orchard gyrocar and control method.
Background technology
Be the link that accident easily appears in gyrocar in the gyrocar operational process of orchard, the urgent danger prevention therefore for gyrocar is particularly crucial.Orchard gyrocar can run into because speed is excessive in operational process, or the ability to bear of track is limited, and gyrocar is occurred, and the dangerous situation in compartment routed up by derailing or contained fruit.
At present, avoiding device in the gyrocar of orchard is artificial trigger-type, manipulation personnel are needed to judge voluntarily to send braking instruction when needing hedging, gyrocar is braked, but for the track that the orchard huge for area and orbital distance are very long, manipulation personnel are difficult to Timeliness coverage and brake with control gyrocar, manual control has significant limitation, be difficult to make whole transportation become quickness and high efficiency, therefore need to find a kind of emergency escape device and control method that can be applied in orchard gyrocar.
Summary of the invention
Fundamental purpose of the present invention is that the shortcoming overcoming prior art is with not enough, a kind of emergency escape device for orchard gyrocar is provided, this device forms urgent danger prevention control system by onboard subsystem, Orbit subsystem and Monitoring Service end, improve the safety coefficient that orchard gyrocar runs, there is simple, the with low cost feature such as lightweight of structure.
Another object of the present invention is, provides a kind of urgent danger prevention control method for orchard gyrocar.
In order to reach above-mentioned first object, the present invention by the following technical solutions:
For an emergency escape device for orchard gyrocar, comprise Orbit subsystem, onboard subsystem and Monitoring Service end;
Described Orbit subsystem comprises multiple identical track node, described track node comprises rail communication unit, railway monitoring unit, microprocessor module and Orbit subsystem power management module, and described microprocessor module is connected with rail communication unit, railway monitoring unit and Orbit subsystem power management module respectively; Described track node installation is below gyrocar track, and directly and rail contact, described track node all can mount flash memory, and not networking still can be applied as data acquisition unit;
Described onboard subsystem comprises vehicle-mounted node and information process unit, and onboard subsystem receives the information of Orbit subsystem, and sends information to Orbit subsystem; Described vehicle-mounted node comprises microwave transmitting element, Wheel-monitoring unit, vehicle-mounted node power administration module, described vehicle-mounted node power administration module is connected with microwave transmitting element, Wheel-monitoring unit, described vehicle-mounted node can mount flash memory, stores Monitoring Data;
Described Monitoring Service end comprises data receipt unit, Internet access unit, display module and Monitoring Service end power management module, described Monitoring Service end power management module is connected with data receipt unit, Internet access unit, display module respectively, and described data receipt unit is also connected with Internet access unit and display module respectively; Monitoring Service termination receive rail end point place put the data that track node transmitted by networking, and there is Internet access function, can communicate with remote computer.
Preferably, described rail communication unit is with the form of AD_HOC composition mesh network, and packet is delivered with the mechanism of collaboration communication.
Preferably, described railway monitoring unit comprises web of the rail vibration survey unit and rail head stress measurement unit, described web of the rail vibration survey unit is for detecting acceleration, speed and the displacement of rail web vibration, described rail head stress measurement unit is for detecting shearing stress and the deformation quantity of rail head and gyrocar wheel rim contact portion, and described web of the rail vibration survey unit comprises three axis accelerometer, three-axis gyroscope and three axle geomagnetic sensors.
Preferably, described information process unit comprises microwave treatment platform, vehicle body monitoring means, microprocessor unit, control subelement, power management submodule; Described power management submodule is connected with microwave treatment module, microprocessor unit, control subelement; Described microwave treatment platform and vehicle-mounted node microwave sending module and track node rail communication module generation answering system, carry out data transmission, described microwave treatment platform accepts microprocessor unit and controls, transmit and receive data, described microprocessor unit controls collection and the transmission that microwave treatment platform carries out data, send instruction in control subelement, make it produce corresponding action, gyrocar is braked or brake off state.
Preferably, described microwave transmitting element is used for sending data to information process unit, and described microwave treatment module controls microwave sending module and sends data, and can gather the data of Wheel-monitoring unit.
Preferably, described vehicle body monitoring means comprises vehicle body ineitial measurement unit, the acceleration of vehicle body ineitial measurement unit detection gyrocar vehicle body, speed, displacement;
Described control subelement comprises control module, and control module is connected with gyrocar driving circuit, can directly control gyrocar driving circuit, reaches the object controlling gyrocar and run.
Preferably, state Wheel-monitoring unit and comprise unsteadiness of wheels measuring unit and rim stress measuring unit, unsteadiness of wheels measuring unit for detect gyrocar axletree to acceleration, speed and displacement, rim stress measuring unit is for detecting normal stress and the deformation of gyrocar wheel rim and rail contact part, and described unsteadiness of wheels measuring unit comprises three axis accelerometer, three-axis gyroscope and three axle geomagnetic sensors.
Preferably, received data are passed to Internet access unit by described data reception module; Described Internet access unit can receive the data of data processing module, and can keep communicate with far-end server, and described display module can show the data that track node uploads also can produce alerting signal.
In order to reach above-mentioned second object, the present invention by the following technical solutions
For a control method for the emergency escape device of orchard gyrocar, comprise the steps:
(1), before orchard gyrocar runs, each subsystem measures built-in lithium battery voltage voluntarily, if brownout, and issue device early warning failure;
(2), before orchard gyrocar runs, calibration track monitoring means and Wheel-monitoring unit, eliminates initial zero inclined;
(3) after orchard gyrocar runs, the microprocessor unit timed sending instruction of gyrocar information process unit, the data of the data of acquisition trajectory subsystem and the data of vehicle-mounted node and vehicle body measuring unit;
(4) data of gyrocar vehicle body measuring unit are processed, adopt the method for digital filtering and data fusion respectively, calculate the speed of the current vehicle body of gyrocar, acceleration, displacement;
(5) data of the vehicle-mounted node of gyrocar are processed, adopt the method for digital filtering and data fusion respectively, calculate gyrocar current vehicle wheel shaft to speed, acceleration, displacement, and the normal stress that wheel rim and rail head contact portion produce;
(6) data of Orbit subsystem are processed, adopt the method for digital filtering and data fusion respectively, calculate the speed of the current web of the rail of track, acceleration, displacement, and the shearing stress that wheel rim and rail head contact portion produce;
(7) based on step (4), step (5), step (6), the parameter of calculated data and safe operation is compared, judge that whether single track vehicle body, wheel, track be in the hole respectively;
(8) if certain moment gyrocar body, wheel, any one is in the hole in track three, then judge that gyrocar is in the hole, and again judge whether still in the hole after waiting for a period of time;
(9) based on (8) if still in the hole, microprocessor unit makes gyrocar brake by controlling subelement, and by microwave treatment module, data are sent to the track node of present position, communicate information to Monitoring Service end by track node networking, staff promptly can rescue according to the result of the display information of Monitoring Service end or remote computer;
(10) based on (8) if precarious position automatically terminates, then judge that gyrocar is as normal operating condition, microprocessor unit, by controlling subelement, removes gyrocar on-position.
Preferably, in described step (4), step (5), step (6), the method for digital filtering and data fusion adopts Kalman's method or complementary filter method.
Compared with prior art, tool has the following advantages and beneficial effect in the present invention:
1, for the problem that the device of the current urgent danger prevention for orchard gyrocar is difficult in time, effectively makes gyrocar avert danger in the gyrocar safe operation of orchard, the vehicle body data that the orbital data that apparatus of the present invention are collected by the current multiple track node of acquisition, the wheel data of vehicle-mounted node collection and information process unit gather.By calculating the data gathered, judging that whether gyrocar is in the hole, and taking hedging behavior timely.Improve the probability of gyrocar safe operation, improve the adaptive capacity to environment of orchard gyrocar.
2, the vehicle body data that gathered by orbital data, the wheel data of vehicle-mounted node collection and the information process unit obtaining current multiple track node and collect of the inventive method.By calculating the data gathered, judging that whether gyrocar is in the hole, and taking hedging behavior timely.Improve the probability of gyrocar safe operation, improve the adaptive capacity to environment of orchard gyrocar.This device has higher control accuracy, and the large-scale quick orchard gyrocar being adapted at large-scale orchard uses, and can improve security and the validity of orchard gyrocar transport.
Accompanying drawing explanation
Fig. 1 is the general illustration of apparatus of the present invention.
Fig. 2 is the track node circuit annexation schematic diagram of apparatus of the present invention.
Fig. 3 is the onboard subsystem circuit connecting relation schematic diagram of apparatus of the present invention.
Fig. 4 is the Monitoring Service terminal circuit annexation schematic diagram of apparatus of the present invention.
Embodiment
Below in conjunction with embodiment and accompanying drawing, the present invention is described in further detail, but embodiments of the present invention are not limited thereto.
Embodiment
In prior art, the avoiding device in the gyrocar of orchard is artificial trigger-type, needs manipulation personnel to judge voluntarily, needs to send braking instruction during hedging, gyrocar is braked.But for the gyrocar track that orchard area is very large, actual effect and the operability of artificial control method are lower.
A kind of emergency escape device for orchard gyrocar of the present embodiment, comprises Orbit subsystem, onboard subsystem and Monitoring Service end; By obtaining the vehicle body data that the orbital data that current multiple track node collects, the wheel data of vehicle-mounted node collection and information process unit gather.By calculating the data gathered, judging that whether gyrocar is in the hole, and taking hedging behavior timely.Improve the probability of gyrocar safe operation, improve the adaptive capacity to environment of orchard gyrocar.
Described Orbit subsystem comprises multiple identical track node, described track node comprises rail communication unit, railway monitoring unit, microprocessor module and Orbit subsystem power management module, and described microprocessor module is connected with rail communication unit, railway monitoring unit and Orbit subsystem power management module respectively; Described track node installation is below gyrocar track, and directly and rail contact, described track node all can mount flash memory, and not networking still can be applied as data acquisition unit;
Described onboard subsystem comprises vehicle-mounted node and information process unit, and onboard subsystem receives the information of Orbit subsystem, and sends information to Orbit subsystem; Described vehicle-mounted node comprises microwave transmitting element, Wheel-monitoring unit, vehicle-mounted node power administration module, described vehicle-mounted node power administration module is connected with microwave transmitting element, Wheel-monitoring unit, described vehicle-mounted node can mount flash memory, stores Monitoring Data;
Described Monitoring Service end comprises data receipt unit, Internet access unit, display module and Monitoring Service end power management module, described Monitoring Service end power management module is connected with data receipt unit, Internet access unit, display module respectively, and described data receipt unit is also connected with Internet access unit and display module respectively; Monitoring Service termination receive rail end point place put the data that track node transmitted by networking, and there is Internet access function, can communicate with remote computer.
As shown in Figure 1, the track nodes such as information process unit 3, node 1, node 2, node 4, node 5, node 6, node 7 are specifically comprised for the urgent danger prevention control device of orchard gyrocar described in the present embodiment.Wherein information processing process unit is fixed on bottom gyrocar; Node 1 (containing built-in lithium battery) and node 2 (containing built-in lithium battery) are fixed on the position of bottom near wheel of gyrocar; The track nodes such as node 4 (containing built-in lithium battery and solar panel), node 5 (containing built-in lithium battery and solar panel) node 5 (containing built-in lithium battery and solar panel), node 6 (containing built-in lithium battery and solar panel), node 7 (containing built-in lithium battery and solar panel) are fixed on rail base.
As shown in Figure 1, described in the urgent danger prevention control device of orchard gyrocar, the vehicle-mounted node 1 and 2 of described gyrocar is after gyrocar runs, meeting timed sending data, most track nodes such as node 4, node 5, node 6 and node 7, the meeting timed sending data when gyrocar enters its communication zone, can produce after information process unit 3 receives signal and receive response, and received data are processed, judge that whether gyrocar is in the hole, if generation brake signal in the hole is gyrocar braking.
As shown in Figure 2, described track node comprises Orbit subsystem power management module, this module comprises CN3722, metal-oxide-semiconductor and 3.3V DC-DC module, and DC-DC module exports two-way stabilized voltage supply 5V and 3.3V, and 5V power supply is for driving microprocessor module and railway monitoring unit; 3.3V power supply is that rail communication unit is powered.
Rail communication unit can adopt SMA--A-B-N (2.4GHz antenna), CC2530 (integrated micro sending module, microwave receiving module).
Described microprocessor module adopts STM32F4xxx series monolithic.
As shown in Figure 3, described information process unit comprises power management module, and this module comprises CN3722, metal-oxide-semiconductor and 3.3V DC-DC module, and DC-DC module exports two-way stabilized voltage supply 5V and 3.3V, and 5V power supply is for driving vehicle body monitoring means and controlling subelement; 3.3V power supply is microprocessor unit and microwave treatment platform power.
Microwave treatment platform can adopt SMA--A-B-N (2.4GHz antenna), CC2530 (integrated micro sending module, microwave receiving module).
Control subelement and adopt the control circuit built by metal-oxide-semiconductor and relay.
Described microprocessor unit adopts STM32F4xxx series monolithic.
As shown in Figure 4, described vehicle-mounted node comprises power management module, and this module comprises CN3722, metal-oxide-semiconductor and 3.3V DC-DC module, and DC-DC module exports two-way stabilized voltage supply 5V and 3.3V, and 5V power supply is used for Wheel-monitoring unit; 3.3V power supply is that microwave transmitting element is powered.
Microwave transmitting element, can adopt SMA--A-B-N (2.4GHz antenna), CC2530 (integrated micro sending module, microwave receiving module).
Described Monitoring Service end comprises power management module, and this module comprises CN3722, metal-oxide-semiconductor and 3.3V DC-DC module, and DC-DC module exports two-way stabilized voltage supply 5V and 3.3V, and 5V power supply is used for Internet access unit; 3.3V power supply is that data receipt unit is powered.
Internet access unit, adopts transfer rate to be the wireless router of 300Mbps.
Data receipt unit, can adopt SMA--A-B-N (2.4GHz antenna), CC2530 (integrated micro sending module, microwave receiving module).
For a urgent danger prevention control method for orchard gyrocar, the method is: obtain the vehicle body data that the orbital data that current multiple track node collects, the wheel data of vehicle-mounted node collection and information process unit gather.By calculating the data gathered, judging that whether gyrocar is in the hole, if in the hole, taking brake hard to avoid danger, and the state of current gyrocar is sent to track node.Information is sent to Monitoring Service end with network construction form by track node, and Monitoring Service end uploads to remote computer, and staff promptly can rescue according to the result of the display information of Monitoring Service end or remote computer.Improve the safety coefficient that orchard gyrocar runs to greatest extent.Specifically comprise the following steps:
(1), before orchard gyrocar runs, each subsystem measures built-in lithium battery voltage voluntarily, if brownout, and issue device early warning failure;
(2), before orchard gyrocar runs, calibration track monitoring means and Wheel-monitoring unit, eliminates initial zero inclined;
(3) after orchard gyrocar runs, the microprocessor unit timed sending instruction of gyrocar information process unit, the data of the data of acquisition trajectory subsystem and the data of vehicle-mounted node and vehicle body measuring unit;
(4) data of gyrocar vehicle body measuring unit are processed, adopt the method for digital filtering and data fusion respectively, calculate the speed of the current vehicle body of gyrocar, acceleration, displacement;
(5) data of the vehicle-mounted node of gyrocar are processed, adopt the method for digital filtering and data fusion respectively, calculate gyrocar current vehicle wheel shaft to speed, acceleration, displacement, and the normal stress that wheel rim and rail head contact portion produce;
(6) data of Orbit subsystem are processed, adopt the method for digital filtering and data fusion respectively, calculate the speed of the current web of the rail of track, acceleration, displacement, and the shearing stress that wheel rim and rail head contact portion produce;
(7) based on step (4), step (5), step (6), the parameter of calculated data and safe operation is compared, judge that whether single track vehicle body, wheel, track be in the hole respectively.
(8) if certain moment gyrocar body, wheel, any one is in the hole in track three, then judge that gyrocar is in the hole, and again judge whether still in the hole after wait for a period of time (user can revise);
(9) based on (8) if still in the hole, microprocessor unit makes gyrocar brake by controlling subelement, and by microwave treatment module, data are sent in the track node of present position, communicate information to Monitoring Service end by track node networking, staff promptly can rescue according to the result of the display information of Monitoring Service end or remote computer;
(10) based on (8) if precarious position automatically terminates, then judge that gyrocar is as normal operating condition, microprocessor unit, by controlling subelement, removes gyrocar on-position.
Above-described embodiment is the present invention's preferably embodiment; but embodiments of the present invention are not restricted to the described embodiments; change, the modification done under other any does not deviate from Spirit Essence of the present invention and principle, substitute, combine, simplify; all should be the substitute mode of equivalence, be included within protection scope of the present invention.
Claims (10)
1. for an emergency escape device for orchard gyrocar, it is characterized in that, comprise Orbit subsystem, onboard subsystem and Monitoring Service end;
Described Orbit subsystem comprises multiple identical track node, described track node comprises rail communication unit, railway monitoring unit, microprocessor module and Orbit subsystem power management module, and described microprocessor module is connected with rail communication unit, railway monitoring unit and Orbit subsystem power management module respectively; Described track node installation is below gyrocar track, and directly and rail contact, described track node all can mount flash memory, and not networking still can be applied as data acquisition unit;
Described onboard subsystem comprises vehicle-mounted node and information process unit, and onboard subsystem receives the information of Orbit subsystem, and sends information to Orbit subsystem; Described vehicle-mounted node comprises microwave transmitting element, Wheel-monitoring unit, vehicle-mounted node power administration module, described vehicle-mounted node power administration module is connected with microwave transmitting element, Wheel-monitoring unit, described vehicle-mounted node can mount flash memory, stores Monitoring Data;
Described Monitoring Service end comprises data receipt unit, Internet access unit, display module and Monitoring Service end power management module, described Monitoring Service end power management module is connected with data receipt unit, Internet access unit, display module respectively, and described data receipt unit is also connected with Internet access unit and display module respectively; Monitoring Service termination receive rail end point place put the data that track node transmitted by networking, and there is Internet access function, can communicate with remote computer.
2. the emergency escape device for orchard gyrocar according to claim 1, is characterized in that, described rail communication unit is with the form of AD_HOC composition mesh network, and packet is delivered with the mechanism of collaboration communication.
3. the emergency escape device for orchard gyrocar according to claim 1, it is characterized in that, described railway monitoring unit comprises web of the rail vibration survey unit and rail head stress measurement unit, described web of the rail vibration survey unit is for detecting acceleration, speed and the displacement of rail web vibration, described rail head stress measurement unit is for detecting shearing stress and the deformation quantity of rail head and gyrocar wheel rim contact portion, and described web of the rail vibration survey unit comprises three axis accelerometer, three-axis gyroscope and three axle geomagnetic sensors.
4. the emergency escape device for orchard gyrocar according to claim 1, is characterized in that, described information process unit comprises microwave treatment platform, vehicle body monitoring means, microprocessor unit, control subelement, power management submodule; Described power management submodule is connected with microwave treatment module, microprocessor unit, control subelement; Described microwave treatment platform and vehicle-mounted node microwave sending module and track node rail communication module generation answering system, carry out data transmission, described microwave treatment platform accepts microprocessor unit and controls, transmit and receive data, described microprocessor unit controls collection and the transmission that microwave treatment platform carries out data, send instruction in control subelement, make it produce corresponding action, gyrocar is braked or brake off state.
5. the emergency escape device for orchard gyrocar according to claim 4, it is characterized in that, described microwave transmitting element is used for sending data to information process unit, and described microwave treatment module controls microwave sending module and sends data, and can gather the data of Wheel-monitoring unit.
6. the emergency escape device for orchard gyrocar according to claim 4, is characterized in that, described vehicle body monitoring means comprises vehicle body ineitial measurement unit, the acceleration of vehicle body ineitial measurement unit detection gyrocar vehicle body, speed, displacement;
Described control subelement comprises control module, and control module is connected with gyrocar driving circuit, can directly control gyrocar driving circuit, reaches the object controlling gyrocar and run.
7. the emergency escape device for orchard gyrocar according to claim 1, it is characterized in that, state Wheel-monitoring unit and comprise unsteadiness of wheels measuring unit and rim stress measuring unit, unsteadiness of wheels measuring unit for detect gyrocar axletree to acceleration, speed and displacement, rim stress measuring unit is for detecting normal stress and the deformation of gyrocar wheel rim and rail contact part, and described unsteadiness of wheels measuring unit comprises three axis accelerometer, three-axis gyroscope and three axle geomagnetic sensors.
8. the emergency escape device for orchard gyrocar according to claim 1, is characterized in that, received data are passed to Internet access unit by described data reception module; Described Internet access unit can receive the data of data processing module, and can keep communicate with far-end server, and described display module can show the data that track node uploads also can produce alerting signal.
9. the control method of the emergency escape device for orchard gyrocar according to claim 1, is characterized in that, comprise the steps:
(1), before orchard gyrocar runs, each subsystem measures built-in lithium battery voltage voluntarily, if brownout, and issue device early warning failure;
(2), before orchard gyrocar runs, calibration track monitoring means and Wheel-monitoring unit, eliminates initial zero inclined;
(3) after orchard gyrocar runs, the microprocessor unit timed sending instruction of gyrocar information process unit, the data of the data of acquisition trajectory subsystem and the data of vehicle-mounted node and vehicle body measuring unit;
(4) data of gyrocar vehicle body measuring unit are processed, adopt the method for digital filtering and data fusion respectively, calculate the speed of the current vehicle body of gyrocar, acceleration, displacement;
(5) data of the vehicle-mounted node of gyrocar are processed, adopt the method for digital filtering and data fusion respectively, calculate gyrocar current vehicle wheel shaft to speed, acceleration, displacement, and the normal stress that wheel rim and rail head contact portion produce;
(6) data of Orbit subsystem are processed, adopt the method for digital filtering and data fusion respectively, calculate the speed of the current web of the rail of track, acceleration, displacement, and the shearing stress that wheel rim and rail head contact portion produce;
(7) based on step (4), step (5), step (6), the parameter of calculated data and safe operation is compared, judge that whether single track vehicle body, wheel, track be in the hole respectively;
(8) if certain moment gyrocar body, wheel, any one is in the hole in track three, then judge that gyrocar is in the hole, and again judge whether still in the hole after waiting for a period of time;
(9) based on (8) if still in the hole, microprocessor unit makes gyrocar brake by controlling subelement, and by microwave treatment module, data are sent to the track node of present position, communicate information to Monitoring Service end by track node networking, staff promptly can rescue according to the result of the display information of Monitoring Service end or remote computer;
(10) based on (8) if precarious position automatically terminates, then judge that gyrocar is as normal operating condition, microprocessor unit, by controlling subelement, removes gyrocar on-position.
10. the control method of the emergency escape device for orchard gyrocar according to claim 9, it is characterized in that, in described step (4), step (5), step (6), the method for digital filtering and data fusion adopts Kalman's method or complementary filter method.
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