CN111255008A - Radar early warning collision avoidance system of mining scraper - Google Patents
Radar early warning collision avoidance system of mining scraper Download PDFInfo
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- CN111255008A CN111255008A CN202010122515.4A CN202010122515A CN111255008A CN 111255008 A CN111255008 A CN 111255008A CN 202010122515 A CN202010122515 A CN 202010122515A CN 111255008 A CN111255008 A CN 111255008A
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/26—Indicating devices
- E02F9/261—Surveying the work-site to be treated
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/26—Indicating devices
- E02F9/261—Surveying the work-site to be treated
- E02F9/262—Surveying the work-site to be treated with follow-up actions to control the work tool, e.g. controller
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Abstract
The invention relates to the field of engineering machinery monitoring, in particular to a radar early warning and collision avoidance system of a mining carry scraper. Comprises an acquisition system, a control system, a warning system and a brake walking system. The acquisition system acquires distance information between the mining scraper and surrounding obstacles, the control system controls the warning system to give an alarm according to the acquisition system distance information, and when the distance between the mining scraper and the obstacles is larger than or smaller than a set value, the control system controls the brake walking system to walk and brake. The invention can detect the surrounding operation environment of the mining scraper in real time, find obstacles in time and prompt field operators or remote operators to avoid the obstacles or adjust the operation posture of the equipment, thereby avoiding the damage of vehicle-mounted equipment or equipment, cables and pipelines around the roadway caused by hard collision. The invention greatly increases the safety coefficient of field operation and improves the production efficiency.
Description
Technical Field
The invention relates to the field of engineering machinery monitoring, in particular to a radar early warning and collision avoidance system of a mining carry scraper.
Background
The metal or nonmetal mine has a severe working environment due to factors such as underground humidity, high temperature and dust, and has more instability and potential safety hazards. The mining electric scraper is basically manned operation or remote control operation in a manual visual field, and personnel participate in the control of the whole process.
However, the space of the mine roadway is limited, the visual field of personnel operation is limited, and the collision of the electric scraper is inevitably caused, so that the damage of vehicle-mounted equipment or roadway layout equipment is caused, and the production progress is influenced. At present, an early warning and collision avoidance system is urgently needed, real-time monitoring can be achieved, early warning and collision avoidance can be achieved, the reaction is rapid, and damage to vehicles and equipment is avoided.
Disclosure of Invention
The invention mainly aims to provide a radar early warning and collision avoidance system of a mining scraper, which can timely find obstacles and prompt field operators and remote operators to avoid the obstacles or adjust the operation posture of equipment, avoid the damage of vehicle-mounted equipment or equipment, cables and pipelines around a roadway caused by rigid collision, increase the safety coefficient of field operation and improve the production efficiency.
In order to achieve the purpose, the invention adopts the technical scheme that:
a radar early warning and collision avoidance system of a mining scraper comprises an acquisition system, a control system, a warning system and a brake walking system, wherein the acquisition system, the control system, the warning system and the brake walking system are arranged on the mining scraper
The acquisition system comprises an integrated millimeter radar wave video probe and a 360-degree panoramic camera, and is used for detecting the moving direction, the moving distance and the moving video of the mining carry scraper;
the control system comprises a computer processor, a network switch and a detection unit installed in the computer processor, receives an acquisition system signal and is used for judging whether the moving direction of the mining scraper is the direction moving towards the obstacle or not, and generates an impact probability according to the moving data to obtain a warning level corresponding to the impact probability;
the warning system comprises an alarm arranged on the mining scraper and is used for carrying out corresponding warning according to the warning level;
the control system controls the brake walking system to automatically brake and walk;
the acquisition system acquires distance information between the mining scraper and surrounding obstacles, the control system controls the warning system to give a warning according to the acquisition system distance information, and when the distance between the mining scraper and the obstacles is larger than or smaller than a set value, the control system controls the brake walking system to walk and brake.
The further technical scheme of the invention is as follows: the acquisition system comprises eight integrated millimeter radar wave video probes and 360-degree panoramic cameras, wherein the integrated millimeter radar wave video probes are mounted at the left front, the left middle, the left back, the right front, the right middle, the right back and the right top of the mining scraper through a bracket, and the 360-degree panoramic cameras are mounted at the upper lower surface of the mining scraper.
The further technical scheme of the invention is as follows: provided is a collision avoidance method including the steps of:
step S1: opening a radar early warning and collision avoidance system of the mining scraper in operation, carrying out system initialization, detecting whether the mining scraper is normally operated, and carrying out the next operation if the mining scraper is normally operated; if the mine scraper is abnormal, the mine scraper is subjected to sound and light alarm and the operation is finished;
step S2: the mining scraper operates normally, and the acquisition system acquires the mining scraper and the barrier distance information, the moving distance, the moving direction and the moving video, and sends the mining scraper and the barrier distance information, the moving distance, the moving direction and the moving video to the control system and displays the mining scraper and the barrier distance information on the computer processor:
step S3: tracking and detecting the operation environment change of the mining scraper by a detection unit of the control system, wherein the operation environment change comprises the information of the distance from the obstacle, the moving distance, the moving direction and the moving video;
s31: when the distance between the mobile terminal and the obstacle is larger than 0.5m, continuously displaying the distance information, the moving distance, the moving direction and the moving video from the obstacle, and when the operation is finished, finishing the operation; when the operation is not finished, the step S3 is repeated, the detection unit continues to track and detect the operation environment change of the mining scraper until the operation is finished, and the operation is finished;
s32: when the distance between the control system and the obstacle is smaller than 0.5m and larger than 0.3m, the control system judges whether the moving direction of the mining scraper is the direction moving towards the obstacle, generates collision probability according to the moving data, obtains a warning level corresponding to the collision probability, and controls the warning system to give an alarm;
s33: and when the distance between the control system and the obstacle is less than 0.3m, the control system controls the brake walking system to immediately and forcibly brake the mining carry scraper, after the braking is finished, the pressing of the reset button is confirmed, the stopping is carried out for one minute, the system self-checks, the system returns to the step S3 to carry out the operation again, and when the reset button is not pressed, the control system forcibly ends the operation.
Compared with the prior art, the invention has the following beneficial effects:
the integrated millimeter radar wave video probe has stable performance, can adapt to various environmental modes, and can work well in high-temperature and humid environments. The function mainly has the distance of a measurement target, the speed and the azimuth angle of the measurement target and the like, and has the advantages of simple structure, low transmitting power, higher resolution and sensitivity, smaller antenna and great saving of the use space of the vehicle body. For the comfort level and the on-site experience of guaranteeing the operation, 360-degree panoramic cameras are additionally arranged to detect and early warn the operation site of the mining scraper, panoramic display is carried out at the visual angle of a simulated person, the visual angle is consistent with the visual angle of the operation of an operator on the site as far as possible, and the comfort level and the experience of the operation are increased.
The invention can detect the surrounding operation environment of the mining scraper in real time, find obstacles in time and prompt field operators or remote operators to avoid the obstacles or adjust the operation posture of the equipment, thereby avoiding the damage of vehicle-mounted equipment or equipment, cables and pipelines around the roadway caused by hard collision. The invention greatly increases the safety coefficient of field operation and improves the production efficiency.
Drawings
FIG. 1 is a top view of a component mounting of a radar early warning collision avoidance system of a mining scraper of the present invention;
FIG. 2 is a side view of the components of a radar warning collision avoidance system of a mining scraper of the present invention;
FIG. 3 is a rear view of the components of a radar warning collision avoidance system of a mining scraper of the present invention installed;
FIG. 4 is a control schematic of the control system of the present invention;
FIG. 5 is a block diagram of the present invention.
1. A right front integrated millimeter radar wave video probe; 2. a right-middle integrated millimeter radar wave video probe; 3. a right rear integrated millimeter radar wave video probe; 4. a right and back integrated millimeter radar wave video probe; 5. a left and a rear integrated millimeter radar wave video probe; 6. a left-middle integrated millimeter radar wave video probe; 7. a left front integrated millimeter radar wave video probe; 8. directly arranging an integrated millimeter radar wave video probe; 9. 360 panorama camera.
Detailed Description
In order to make the technical means, the creation characteristics, the achievement purposes and the effects of the invention easy to understand, the invention is further described with the specific embodiments.
As shown in figure 1, the radar early warning and collision avoidance system of the mining scraper comprises an acquisition system, a control system, a warning system and a brake walking system, wherein the acquisition system, the control system, the warning system and the brake walking system are connected with one another through a network
The acquisition system comprises a front right integrated millimeter radar wave video probe 1, a middle right integrated millimeter radar wave video probe 2, a rear right integrated millimeter radar wave video probe 3, a rear right integrated millimeter radar wave video probe 4, a rear left integrated millimeter radar wave video probe 5, a middle left integrated millimeter radar wave video probe 6, a front left integrated millimeter radar wave video probe 7, an upper integrated millimeter radar wave video probe 8 and a 360-degree panoramic camera 9.
The eight integrated millimeter radar wave video probes and the 360-degree panoramic camera are mounted at the left front, the left middle, the left back, the right front, the right middle, the right back and the right upper position of the mining scraper through the bracket, and the 360-degree panoramic camera 9 is mounted on the upper lower surface of the mining scraper.
The acquisition system is used for detecting the moving direction, the moving distance and the moving video of the mining carry scraper;
the control system comprises a computer processor, a network switch and a detection unit installed in the computer processor, receives an acquisition system signal and is used for judging whether the moving direction of the mining scraper is the direction moving towards the obstacle or not, and generates an impact probability according to the moving data to obtain a warning level corresponding to the impact probability; the computer processor is assembled with the force control configuration software to integrate the videos, so that the eight integrated millimeter radar wave video probes and the 360-degree panoramic camera can synthesize a full-linked image in the computer, and a user can feel the real surrounding environment of the mining carry scraper.
The warning system comprises an alarm arranged on the mining scraper and used for carrying out corresponding warning according to the warning level;
the control system controls the brake walking system to automatically brake and walk.
The control principle is as follows: the acquisition system acquires distance information between the mining scraper and surrounding obstacles, the control system controls the warning system to give a warning according to the acquisition system distance information, and when the distance between the mining scraper and the obstacles is larger than or smaller than a set value, the control system controls the brake walking system to walk and brake.
The radar early warning and collision avoidance system carries out tracking early warning on the mining carry scraper, and the acquisition system carries out detection early warning on a short-distance target through the radar wave video probe and the 360-degree panoramic camera. The control system can simulate the visual angle display of people and can display video monitoring pictures and the data of the radar system in a remote panoramic mode. The detection unit of the invention has the functions of data processing, conversion, editing, logic operation and the like. The detection unit receives signals of the radar wave video probe and the 360-degree panoramic camera and analyzes and processes the signals.
The method comprises the steps of detecting the surrounding environment by eight integrated millimeter radar wave video probes and 360-degree panoramic cameras installed on the mining scraper, measuring and calculating the target distance, speed and direction around the mining electric scraper, tracking and predicting the motion track of the mining electric scraper, judging whether the moving direction of the mining scraper is the direction moving towards an obstacle or not by combining the speed and braking characteristics of the mining electric scraper, generating the collision probability according to the moving data, obtaining the warning level corresponding to the collision probability, and controlling a warning system to give out an alarm.
The first limit value of the probe detection is 0.5m, the second limit value is 0.3m, and the control system carries out logic operation and sends out an instruction according to the first limit value and the second limit value.
The warning system can give out acousto-optic warning prompts on site and an operation background, when the distance between the warning system and the obstacle is less than 0.3m, the warning system can give out a rapid acousto-optic warning prompt on site and forcibly stop the vehicle, and the vehicle can run for 1 minute after a fault reset button is pressed to adjust the position of the mining carry scraper. And after 1 minute, detecting that the distance between the robot and the obstacle is still less than 0.3m, and continuing to forcibly finish the work to wait for on-site fault treatment.
When the invention is going up a slope and going down a slope, the control system can analyze the line conditions such as the slope and the like, and carry out the alarm recognition of the obstacle, and the false alarm or the missing alarm caused by the going up and going down the slope is avoided. Under the condition of the curve road, the control system analyzes the curve conditions such as the curve turning radius and the like, adjusts the line limit, and carries out alarm recognition on the barrier, thereby avoiding false alarm or missing alarm caused by the curve.
Fig. 3 is a schematic diagram of the physical module calculation according to the present invention.
The anti-collision method comprises the following steps:
step S1: opening a radar early warning and collision avoidance system of the mining scraper in operation, carrying out system initialization, detecting whether the mining scraper is normally operated, and carrying out the next operation if the mining scraper is normally operated; if the mine scraper is abnormal, the mine scraper is subjected to sound and light alarm and the operation is finished;
step S2: the mining scraper operates normally, and the acquisition system acquires the mining scraper and the barrier distance information, the moving distance, the moving direction and the moving video, and sends the mining scraper and the barrier distance information, the moving distance, the moving direction and the moving video to the control system and displays the mining scraper and the barrier distance information on the computer processor:
step S3: tracking and detecting the operation environment change of the mining scraper by a detection unit of the control system, wherein the operation environment change comprises the information of the distance from the obstacle, the moving distance, the moving direction and the moving video;
s31: when the distance between the mobile terminal and the obstacle is larger than 0.5m, continuously displaying the distance information, the moving distance, the moving direction and the moving video from the obstacle, and when the operation is finished, finishing the operation; when the operation is not finished, the step S3 is repeated, the detection unit continues to track and detect the operation environment change of the mining scraper until the operation is finished, and the operation is finished;
s32: when the distance between the control system and the obstacle is smaller than 0.5m and larger than 0.3m, the control system judges whether the moving direction of the mining scraper is the direction moving towards the obstacle, generates collision probability according to the moving data, obtains a warning level corresponding to the collision probability, and controls the warning system to give an alarm;
s33: and when the distance between the control system and the obstacle is less than 0.3m, the control system controls the brake walking system to immediately and forcibly brake the mining carry scraper, after the braking is finished, the pressing of the reset button is confirmed, the stopping is carried out for one minute, the system self-checks, the system returns to the step S3 to carry out the operation again, and when the reset button is not pressed, the control system forcibly ends the operation.
According to the invention, the radar anti-collision system is introduced into the electric scooptram for the mine, so that the collision between the electric scooptram for the mine and equipment, cables and pipelines in a surrounding operation roadway is greatly avoided, and the smooth production is ensured. The invention can be installed on underground rail transportation equipment such as electric locomotives, battery cars and rock drilling jumbo equipment, can also be popularized and applied to some road maintenance equipment on the ground surface and the like, and has better application prospect.
The foregoing shows and describes the general principles and broad features of the present invention and advantages thereof. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (3)
1. The utility model provides a radar early warning collision avoidance system of mining scraper, includes collection system, control system, warning system, brake traveling system, its characterized in that:
the acquisition system comprises an integrated millimeter radar wave video probe and a 360-degree panoramic camera, and is used for detecting the moving direction, the moving distance and the moving video image of the mining carry scraper;
the control system comprises a computer processor, a network switch and a detection unit installed in the computer processor, receives an acquisition system signal and is used for judging whether the moving direction of the mining scraper is the direction moving towards the obstacle or not, and generates an impact probability according to the moving data to obtain a warning level corresponding to the impact probability;
the warning system comprises an alarm arranged on the mining scraper and is used for carrying out corresponding warning according to the warning level;
the control system controls the brake walking system to automatically brake and walk;
the acquisition system acquires distance information between the mining scraper and surrounding obstacles, the control system controls the warning system to give a warning according to the acquisition system distance information, and when the distance between the mining scraper and the obstacles is larger than or smaller than a set value, the control system controls the brake walking system to walk and brake.
2. The radar warning collision avoidance system of a mining scraper of claim 1, characterized in that: the acquisition system comprises eight integrated millimeter radar wave video probes and 360-degree panoramic cameras, the integrated millimeter radar wave video probes are mounted on the left front side, the left middle side, the left rear side, the right front side, the right middle side, the right rear side and the right upper side of the mining scraper through supports, the 360-degree panoramic cameras are mounted on the upper lower surface of the mining scraper, and the acquisition system realizes all-dimensional monitoring of the mining scraper through data acquisition in the eight directions.
3. The radar warning collision avoidance system of a mining scraper of claim 1 or 2, characterized in that: the radar early warning anti-collision system comprises the following steps:
step S1: opening a radar early warning and collision avoidance system of the mining scraper in operation, carrying out system initialization, detecting whether the mining scraper is normally operated, and carrying out the next operation if the mining scraper is normally operated; if the mine scraper is abnormal, the mine scraper is subjected to sound and light alarm and the operation is finished;
step S2: the mining scraper runs normally, the acquisition system acquires the distance information, the moving distance, the moving direction and the moving video of the mining scraper and the barrier, and sends the information, the moving distance, the moving direction and the moving video to the control system and displays the information on the computer processor;
step S3: tracking and detecting the operation environment change of the mining scraper by a detection unit of the control system, wherein the operation environment change comprises the information of the distance from the obstacle, the moving distance, the moving direction and the moving video;
s31: when the distance between the mobile terminal and the obstacle is larger than 0.5m, continuously displaying the distance information, the moving distance, the moving direction and the moving video from the obstacle, and when the operation is finished, finishing the operation; when the operation is not finished, the step S3 is repeated, the detection unit continues to track and detect the operation environment change of the mining scraper until the operation is finished, and the operation is finished;
s32: when the distance between the control system and the obstacle is smaller than 0.5m and larger than 0.3m, the control system judges whether the moving direction of the mining scraper is the direction moving towards the obstacle, generates collision probability according to the moving data, obtains a warning level corresponding to the collision probability, and controls the warning system to give an alarm;
s33: and when the distance between the control system and the obstacle is less than 0.3m, the control system controls the brake walking system to immediately and forcibly brake the mining carry scraper, after the braking is finished, the pressing of the reset button is confirmed, the stopping is carried out for one minute, the system self-checks, the system returns to the step S3 to carry out the operation again, and when the reset button is not pressed, the control system forcibly ends the operation.
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| CN113391596A (en) * | 2021-06-11 | 2021-09-14 | 赤峰山金红岭有色矿业有限责任公司 | Belt mineral powder leakage detection method, system, terminal and storage medium |
| CN113431126A (en) * | 2021-06-25 | 2021-09-24 | 铜陵有色金属集团股份有限公司 | Remote control system and method for underground carry scraper |
| CN114232721A (en) * | 2022-01-04 | 2022-03-25 | 上海三一重机股份有限公司 | Vehicle perception early warning system and working vehicle |
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