CN207301323U - Anti-collision system before explosion-proof trackless rubber-tyre vehicle pouring type based on millimetre-wave radar - Google Patents
Anti-collision system before explosion-proof trackless rubber-tyre vehicle pouring type based on millimetre-wave radar Download PDFInfo
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- CN207301323U CN207301323U CN201721047253.XU CN201721047253U CN207301323U CN 207301323 U CN207301323 U CN 207301323U CN 201721047253 U CN201721047253 U CN 201721047253U CN 207301323 U CN207301323 U CN 207301323U
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Abstract
Anti-collision system before a kind of pouring type based on millimetre-wave radar, belong to the technical field that underground coal mine improves trackless rubber-tyred vehicle driving safety and working face personnel safety, it includes millimetre-wave radar babinet, radar antenna, signal gathering unit, ECU signal processing units, signaling control unit, it is characterised in that：The millimetre-wave radar box house is equipped with radar antenna, signal acquisition circuit, ECU circuits, signal control circuit；Front detection angle is 120 degree, obtains relative distance, speed and the relative angle information of vehicle front barrier, as collision time t ＞ 2s, in-car buzzer indicator light flicker；As collision time t≤2s and safe stopping distance SbrDuring ＜ R, in-car buzzer warning, as collision time t≤2s and safe stopping distance Sbr rDuring >=R, vehicle does emergency braking processing.The utility model can detect more remote obstacle information, judge vehicle safety state in advance and adopt vigorous measures.
Description
Technical field
The present invention relates to anti-collision system before a kind of pouring type based on millimetre-wave radar, belongs to underground coal mine and improves trackless rubber-tyred
The technical field of vehicle driving safety and working face personnel safety.It is visible for underground coal mine explosion-proof trackless rubber-tyre vehicle environment
Spend the operating condition more than low, bend, and anti-collision radar system before the millimeter wave of the larger range designed.
Background technology
Downhole anti-explosion railless free-wheeled vehicle belongs to the widely used transporting equipment of underground transport system, has easy care, motor-driven
Flexibly, the advantages that safety and stability, the method for operation and professional standard of complete set have been formed.
Since underground coal mine visibility is relatively low, tunnel bend is more, and vehicle and personnel safety are to influence working face in the pit just
The key issue often run.
The intelligent anticollision and security system that current downhole anti-explosion railless free-wheeled vehicle uses mainly have infrared distance sensor, people
Member is close to switch and image system etc., and measurement accuracy is higher, but measurement range is small, affected by environment larger, barrier positioning energy
Power is poor.
At present, the rise of Radar Technology, largely improves the security of vehicle when driving, and has many property
Can be a little.
The content of the invention
In order to realize to front obstacle（Bend, vehicle and staff）Remote detection, positioning, early warning and tight
Anxious braking, improves the security in vehicle travel process, reduces the generation of underground coal mine accident, and the present invention provides larger range
A kind of signal processing time is anti-collision system before millimetre-sized millimetre-wave radar.
The technical solution adopted by the present invention to solve the technical problems：
Anti-collision system before explosion-proof trackless rubber-tyre vehicle pouring type based on millimetre-wave radar, including millimetre-wave radar babinet, ten
Word groove pan head screw, aviation plug, front shroud, radar antenna circuit board, signal acquisition circuit plate, ECU circuit boards, signal control
Circuit board, single head hexagon prism, upper junction plate, riser, middle connecting plate, bottom plate.
Millimetre-wave radar babinet is made of upper box, lower box, internal to form epicoele, cavity of resorption, protecgulum by middle connecting plate
Plate is fixed on upper junction plate, and radar antenna circuit board, signal acquisition circuit plate are fixed on babinet by single head hexagon prism to be connected
Plate lower end, ECU circuit boards, signal control circuit plate are fixed on middle connecting plate bottom by single head hexagon prism, and aviation plug is fixed on
Babinet side, middle connecting plate have cable threading hole, and each circuit board is coupled by cable with wire connection terminal, signal control circuit plate dress
There is wire connection terminal, be connected with aviation plug end of incoming cables, while connect vehicle speed pulse in buzzer siren, vehicle-mounted protective device
Signal wire and vehicle braking electromagnetic valve.
The present invention judges whether system alarm according to collision time or takes to the positioning comprehensively of 120 degree of vehicle traveling front
Emergency braking measure, default collision critical value is 2s；
Vehicle traveling information of the radar signal collecting unit acquisition from radar sensor, including the traveling of vehicle in itself are fast
Spend v0, front obstacle speed v1, relative distance R and relative angle θ；
Work as v0＞ v1When, vehicle collides time t ＞ 2s with front obstacle, and in-car buzzer flashing lamp is bright；
When vehicle and front obstacle collide time t≤2s, vehicle brake safe distance SbrDuring ＜ R, illustrate exist
Potential risk of collision, in-car buzzer remind driver to take brake measure；Vehicle brake safe distance SbrDuring >=R, illustrate car
In being in extreme danger state, vehicle takes emergency braking measure automatically；
Wherein, λ is radar wavelength, and Δ R is wave path-difference, and the calculation formula of t and θ are：
Vehicle collides the time with front obstacle
The relative angle of vehicle and front obstacle
3rd, the acquisition methods of the vehicle and relative velocity of front obstacle, relative distance and relative angle：
Radar sensor uses mattress array, millimetre-wave radar high-frequency signal is carried out by ECU signal processors real
When sample, by sef-adapting filter remove noise jamming signal, using Terahertz frequency range LFMCW measurement difference frequency calculate phase
To speed and relative distance, relative angle is measured by phase method；
4th, the present invention also provides a kind of CAN bus control automatic identification, calibration radar signal and control emergency braking letter
Number method, the relative velocity of radar signal collecting unit and ECU signal processing units the extraction front obstacle, relative distance
And relative angle information, and signaling control unit is transmitted these information to, management platform is controlled to sending by signal
Information calculates vehicle running state, and carries out evaluation control to vehicle safety degree.
The maskable electromagnetic wave of connecting plate in the radar babinet of the present invention, circuit control are controlled using microcomputer program, day
Line circuit is launched using matrix form high band, can demarcate different automobile types speed pulse signal, and ECU collection obstacle signals are simultaneously timely
Processing feeds back to control circuit, and useful range is up to 15m.
The present invention has obvious advanced compared with background technology.The present invention is compact-sized, safety and stability is reliable, detection
Range is big, rate of false alarm is low, small, efficient, dustproof and waterproof affected by environment.
Brief description of the drawings
Fig. 1 is radar babinet front view in the present invention；
Fig. 2 is radar babinet side view；
Fig. 3 is the flow chart of the method for early warning of the present invention；
Fig. 4 ~ Figure 12 is preceding anti-collision radar system main control circuit figure.Wherein, Fig. 4 is IC1 circuit diagrams, Fig. 5 be IC2 and
IC10 circuit diagrams, Fig. 6 are IC3 circuit diagrams, and Fig. 7 is IC4 circuit diagrams, and Fig. 8 is IC5 circuit diagrams, and Fig. 9 is IC6 circuit diagrams, Tu10Shi
IC7 circuit diagrams, Figure 11 are IC8 circuit diagrams, and Figure 12 is IC9 circuit diagrams.
Figure 13 is radar box house view.
In figure, 1, millimetre-wave radar babinet, 2, Cross Recess Head Screw M3 × 8,3, Cross Recess Head Screw M3 × 5,4,
Aviation plug, 5, front shroud, 6, radar antenna circuit board, 7, signal acquisition circuit plate, 8, ECU circuit boards, 9, signal control electricity
Road plate, 10, single head hexagon prism M2 × 10+6,11, M2.5 × 10+6 single head hexagon prisms, 12, upper junction plate, 13, riser, 14, in
Connecting plate, 15, bottom plate.
Embodiment：
In order to make the purpose , technical scheme and advantage of the present invention be clearer, below in conjunction with attached drawing to the present invention into
Row is further described.
As shown in Figure 1, 2, 3, millimetre-wave radar babinet 1 of the invention is by front shroud 5, upper junction plate 12, riser 13, middle company
Fishplate bar 14, bottom plate 15 form.Be provided with inside millimetre-wave radar babinet 1 radar antenna circuit board 6, signal acquisition circuit plate 7,
ECU circuit boards 8, signal control circuit plate 9, M2.5 × 10+6 single heads hexagon prism 11, upper junction plate 12, riser 13, middle connecting plate
14th, bottom plate 15 forms.
The millimetre-wave radar is arranged in babinet 1.
The babinet 1 forms six face babinets by front shroud 5, riser 13 and bottom plate 15, and bottom plate is consolidated by Cross Recess Head Screw 3
The bottom of box is scheduled on, middle connecting plate 14 is fixed on babinet middle part by single head hexagon prism 11 and is partitioned into cabinets cavity
Chamber, cavity of resorption；
Front shroud 5 is fixedly connected with preceding connecting plate 12 by Cross Recess Head Screw 2 and spring washer, radar antenna circuit
Plate 6 is fixed on babinet upper junction plate lower end by Cross Recess Head Screw and spring washer, and signal acquisition circuit plate 7 is by cross slotted disk
Head screw and spring washer are fixed on middle connecting plate upper end, ECU circuit boards 8, signal control circuit plate 9 by single head hexagon prism 10,
Cross Recess Head Screw and plain washer are fixed on middle connecting plate lower end, and aviation plug 4 is fixed on body side, and middle connecting plate is set
Cable threading hole, each circuit board are coupled by cable with wire connection terminal, and female fixed by bolt, signal control circuit plate is equipped with wiring
Terminal, is connected with 4 end of incoming cables of aviation plug, while connects vehicle speed pulse signal in buzzer siren, vehicle-mounted protective device
Line and vehicle emergency stop controlling switch signal wire.
As shown in figure 4, radar antenna transmitting electromagnetic wave of the present invention, obtains vehicle traveling information by signal gathering unit, wraps
Include the travel speed v of vehicle in itself0, front obstacle speed v1, relative distance R and relative angle θ, wherein vehicle hinders with front
The acquisition methods for hindering the relative movement information of thing are：Signal gathering unit carries out real-time sampling to MMW RADAR SIGNAL USING, passes through
Sef-adapting filter removes the interference signals such as clutter therein, is measured in ECU signal processing unit application Terahertz frequency ranges LFMCW
Difference frequency calculates relative velocity and relative distance, and relative angle is measured by phase method.
The present invention judges whether system alarm according to collision time t or takes emergency braking measure, and default collision is faced
Dividing value is 2s；
Work as v0＞ v1When, vehicle collides time t ＞ 2s with front obstacle, and in-car buzzer flashing lamp is bright；Work as vehicle
Collide time t≤2s, vehicle brake safe distance S with front obstaclebrDuring ＜ R, illustrate that there are potential risk of collision, car
Brake safe distance SbrDuring >=R, illustrate that vehicle is in the state that is in extreme danger.
Wherein, λ is radar wavelength, and Δ R is wave path-difference, and the calculation formula of t and θ are：
Each target information that radar signal control unit real-time reception ECU signal processing units transmit, if vehicle exists
Potential risk of collision, control unit sends alarm signal to in-car buzzer and reminds driver to take brake measure, if vehicle
In the state of being in extreme danger, control unit, which sends emergent stop signal braking electromagnetic valve into vehicle-mounted protection system, makes vehicle automatic emergency
Braking.Meanwhile real-time reception vehicle itself vehicle speed pulse square-wave signal, realize that radar signal calibrates work(by photoelectric relay
Can, there are CAN bus output control signal and 485 output functions, controlled available for screen display.
Shown in Fig. 5, the present invention by microcomputer control circuit IC1, radar debug circuit IC2, radar calibration IC circuit 3,
Wake-up, load button IC circuit 4, output speed impulse circuit IC5, output CAN bus control circuit IC6, ECU signal processing lead to
Communication interface IC circuit 7,485 output function IC circuits 8, regulator circuit IC9, power circuit IC10 composition integrated circuits, each point of electricity
Coupled between road by conducting wire, Vcc ends are power end, and GND ends are ground terminal.
Signal gathering unit is formed by ECU signal processing communicating circuits IC7, output speed impulse circuit IC5.
By microcomputer control circuit IC1,485 output function IC circuits 8 wake up, load button IC circuit 4 forms signal
Control unit.
Signal processing unit is formed by radar debug circuit IC2, radar calibration IC circuit 3.
Microcomputer control circuit IC1 connection remaining circuit modules, there is provided information collects and management platform；
Radar debug circuit IC2 connections microcomputer control circuit IC1 and pc port, debugging ECU signal processing units
Radar signal；
Radar calibration IC circuit 3 connects ECU signal processing communicating circuit IC7 and microcomputer control circuit IC1, passes through thunder
Radar signal is calibrated up to debug circuit IC2；
Load button IC circuit 4 connects microcomputer control circuit IC1, realizes and opens, closes, demarcating the work(such as radar installations
Energy；
Output speed impulse circuit IC5 connections microcomputer control circuit IC1 and IC circuit 7, collection vehicle velocity pulse
Signal；
ECU signal processing communicating circuit IC7 connection microcomputer control circuits IC1, IC circuit 5 and Radar Signal Processing
ECU modules, there is provided vehicle velocity signal gather port and with ECU signal processing module interfaces；
485 output function IC circuits 8 connect microcomputer control circuit IC1, its port can be used for connecting display, by thunder
Obstacle information up to collection realizes visualization；
Regulator circuit IC9, power circuit IC10 connection microcomputer control circuit IC1, stablize integrated circuit operating voltage
And control circuit power functions.
1 foot, 5 feet, 17 feet of microcomputer control circuit IC1 connect power supply, 1.5V DC power supplies, microcomputer control
2 feet of IC circuit 1 processed connect one end of crystal oscillator, and are grounded after connecting the capacitance of a 20pf, the 3 of microcomputer control circuit IC1
Foot connects the other end of crystal oscillator, and is grounded after connecting the capacitance of a 20pf, and 6 feet of microcomputer control circuit IC1 are through an electricity
Resistance is connected with 4 feet of ECU signal processing communicating circuits IC7, and 9 feet of microcomputer control circuit IC1 meet radar debug circuit IC2
3 feet, 10 feet of microcomputer control circuit IC1 connect wake-up, 4 feet of load button IC circuit 4, microcomputer control circuit
11 feet of IC1 connect wake-up, 5 feet of load button IC circuit 4, and 12 feet of microcomputer control circuit IC1 connect wake-up, load button
7 feet of IC circuit 4,13 feet of microcomputer control circuit IC1 connect wake-up, 6 feet of load button IC circuit 4, microcomputer control
14 feet of IC circuit 1 processed connect wake-up, 3 feet of load button IC circuit 4, and 15 feet of microcomputer control circuit IC1 connect output speed
Impulse circuit IC5 is spent,
The 16 feet ground connection of microcomputer control circuit IC1,18 feet of microcomputer control circuit IC1 connect 485 output functions
5 feet of IC circuit 8,19 feet of microcomputer control circuit IC1 connect 3 feet of 485 output function IC circuits 8, microcomputer control
20 feet of IC circuit 1 connect 4 feet of 485 output function IC circuits 8, and 21 feet of microcomputer control circuit IC1 connect output CAN bus
3 feet of control circuit IC6,22 feet of microcomputer control circuit IC1 connect 4 feet of output CAN bus control circuit IC6, micro- meter
31 feet of calculation machine control circuit IC1 connect 7 feet of radar calibration IC circuit 3；1 foot of radar debug circuit IC2 connects 1.5V direct currents
Source, 2 feet of radar debug circuit IC2 connect 7 feet of microcomputer control circuit IC1, and 3 feet of radar debug circuit IC2 connect micro- meter
8 feet of calculation machine control circuit IC1, the 4 feet ground connection of radar debug circuit IC2；5 feet of ECU signal processing communicating circuits IC7 connect thunder
Up to 1 foot of calibration IC circuit 3,6 feet of ECU signal processing communicating circuits IC7 connect 2 feet of radar calibration IC circuit 3, radar calibration
8 feet of IC circuit 3 are followed by power supply through resistance.
The microcomputer control circuit IC1 uses microcontroller STM32F0426K6, and radar calibration IC circuit 3 uses
PS2801-2 or AQW210E photoelectric relays, ECU signal processing communicating circuits IC7 use Header6, output CAN bus control
IC circuit 6 uses CTM1015 3.3V, and 485 output function IC circuits 8 use RSM3485.
Claims (2)
1. anti-collision system before a kind of pouring type based on millimetre-wave radar, including millimetre-wave radar babinet, radar antenna, signal are adopted
Collect unit, ECU signal processing units, signaling control unit, it is characterised in that：Millimetre-wave radar box house is equipped with radar day
Line, signal acquisition circuit, ECU circuits, signal control circuit；The millimetre-wave radar babinet is made of upper box, lower box, on
Epicoele, cavity of resorption are formed by middle connecting plate between babinet and lower box, radar antenna circuit board, signal acquisition circuit plate pass through list
Head hexagon prism is fixed on upper junction plate lower end, and ECU circuit boards, signal control circuit plate are fixed on middle connecting plate bottom, and aviation is inserted
Head is fixed on body side；Signal control circuit plate is equipped with wire connection terminal, is connected with aviation plug end of incoming cables, while connect buzzing
Vehicle speed pulse signal wire and vehicle emergency stop controlling switch signal wire in alarm, vehicle-mounted protective device.
2. anti-collision system before a kind of pouring type based on millimetre-wave radar according to claim 1, it is characterised in that：Micro- meter
1 foot, 5 feet, 17 feet of calculation machine control circuit IC1 connect power supply, 1.5V DC power supplies, and the 2 of microcomputer control circuit IC1
Foot connects one end of crystal oscillator, and is grounded after connecting the capacitance of a 20pf, and 3 feet of microcomputer control circuit IC1 connect the another of crystal oscillator
One end, and being grounded after connecting the capacitance of a 20pf, 6 feet of microcomputer control circuit IC1 through a resistance and ECU signals at
The 4 feet connection of communicating circuit IC7 is managed, 9 feet of microcomputer control circuit IC1 connect 3 feet of radar debug circuit IC2, micro- calculating
10 feet of machine control circuit IC1 connect wake-up, 4 feet of load button IC circuit 4, and 11 feet of microcomputer control circuit IC1, which connect, calls out
To wake up, 5 feet of load button IC circuit 4,12 feet of microcomputer control circuit IC1 connect wake-up, 7 feet of load button IC circuit 4,
13 feet of microcomputer control circuit IC1 connect wake-up, 6 feet of load button IC circuit 4, and the 14 of microcomputer control circuit IC1
Foot connects wake-up, 3 feet of load button IC circuit 4, and 15 feet of microcomputer control circuit IC1 meet output speed impulse circuit IC5,
The 16 feet ground connection of microcomputer control circuit IC1,18 feet of microcomputer control circuit IC1 connect 485 output function circuits
5 feet of IC8,19 feet of microcomputer control circuit IC1 connect 3 feet of 485 output function IC circuits 8, microcomputer control circuit
20 feet of IC1 connect 4 feet of 485 output function IC circuits 8, and 21 feet of microcomputer control circuit IC1 connect output CAN bus control
3 feet of IC circuit 6,22 feet of microcomputer control circuit IC1 connect 4 feet of output CAN bus control circuit IC6, microcomputer
31 feet of control circuit IC1 connect 7 feet of radar calibration IC circuit 3；1 foot of radar debug circuit IC2 connects 1.5V DC power supplies, thunder
2 feet up to debug circuit IC2 connect 7 feet of microcomputer control circuit IC1, and 3 feet of radar debug circuit IC2 connect microcomputer control
8 feet of IC circuit 1 processed, the 4 feet ground connection of radar debug circuit IC2；5 feet of ECU signal processing communicating circuits IC7 connect radar calibration
1 foot of IC circuit 3,6 feet of ECU signal processing communicating circuits IC7 connect 2 feet of radar calibration IC circuit 3, radar calibration circuit
8 feet of IC3 are followed by power supply through resistance.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721047253.XU CN207301323U (en) | 2017-08-21 | 2017-08-21 | Anti-collision system before explosion-proof trackless rubber-tyre vehicle pouring type based on millimetre-wave radar |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721047253.XU CN207301323U (en) | 2017-08-21 | 2017-08-21 | Anti-collision system before explosion-proof trackless rubber-tyre vehicle pouring type based on millimetre-wave radar |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207301323U true CN207301323U (en) | 2018-05-01 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721047253.XU Expired - Fee Related CN207301323U (en) | 2017-08-21 | 2017-08-21 | Anti-collision system before explosion-proof trackless rubber-tyre vehicle pouring type based on millimetre-wave radar |
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| Country | Link |
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| CN (1) | CN207301323U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108831189A (en) * | 2018-06-07 | 2018-11-16 | 合肥中科自动控制***有限公司 | A kind of intelligent early-warning method based on millimetre-wave radar anticollision |
| CN112068137A (en) * | 2019-05-24 | 2020-12-11 | 苏州豪米波技术有限公司 | Forward anti-collision radar system with low cost |
-
2017
- 2017-08-21 CN CN201721047253.XU patent/CN207301323U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108831189A (en) * | 2018-06-07 | 2018-11-16 | 合肥中科自动控制***有限公司 | A kind of intelligent early-warning method based on millimetre-wave radar anticollision |
| CN112068137A (en) * | 2019-05-24 | 2020-12-11 | 苏州豪米波技术有限公司 | Forward anti-collision radar system with low cost |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180501 |
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| CF01 | Termination of patent right due to non-payment of annual fee |