CN103543688B - A kind of guarded by location method of the complicated harbour machinery based on projected boundary and device - Google Patents
A kind of guarded by location method of the complicated harbour machinery based on projected boundary and device Download PDFInfo
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- CN103543688B CN103543688B CN201310499334.3A CN201310499334A CN103543688B CN 103543688 B CN103543688 B CN 103543688B CN 201310499334 A CN201310499334 A CN 201310499334A CN 103543688 B CN103543688 B CN 103543688B
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- harbour machinery
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Abstract
The invention discloses a kind of guarded by location method of the complicated harbour machinery based on projected boundary, comprise the following steps: (1) obtains and determines the silhouette edge boundary line of the two-dimensional projection of complicated harbour machinery; (2) distance between two adjacent complicated harbour machinery silhouette edge boundary lines is calculated; (3) minor increment between two adjacent complicated harbour machinery silhouette edge boundary lines is determined; (4) judge whether minor increment is less than the safety value of setting, when being less than, adjacent complicated harbour machinery runs slowly or out of service respectively, and mutually sends corresponding alarm.The invention also discloses a kind of guarded by location device of the complicated harbour machinery based on projected boundary, comprise first, second placement data acquisition unit, first, second information exchange unit and first, second control module.The present invention has can take full advantage of space, harbour, achieves omnibearing guarded by location, the simple and clear effect easily implemented.
Description
Technical field
The present invention relates to complicated harbour machinery protection field, particularly a kind of guarded by location method of the complicated harbour machinery based on projected boundary and device.
Background technology
Harbour machinery is arranged on fixing track usually, and being furnished with cart can along track moving linearly, by position coder record position in orbit.But for the complicated harbour machinery of majority, when large truck position is fixed, also have the complicated rotatable parts such as large arm, boots portion, 360 degree, original place Omnidirectional rotation can be realized, as the chain bucket ship unloader that coal-burning power plant is conventional.Harbour configures multiple stage machinery usually, and limit switch or the radar range finder of adopting detects large truck position more, prevents adjacent machine from colliding.
For the complicated harbour machinery that structure is identical, except cart protection, mainly through calculating the data of position coder, under the large boom slew of restriction, specifying suitable safe distance, preventing the collision in large arm and boots portion.Algorithm is simple, and protection effectively, but fails to make full use of space, affects harbour whole efficiency.
For the complicated harbour machinery that textural difference is larger, as bridge type ship unloader and chain bucket ship unloader, existing preventing collision protection is only limitted to cart guarded by location.Although method is simple, often there is the collision between large arm and crossbeam, cause personal injury and economic loss.
Summary of the invention
The object of the present invention is to provide one can take full advantage of space, harbour, achieve omnibearing guarded by location, the guarded by location method of the simple and clear complicated harbour machinery based on projected boundary easily implemented.
According to an aspect of the present invention, provide a kind of guarded by location method of the complicated harbour machinery based on projected boundary, comprise the following steps:
(1) obtain and determine the silhouette edge boundary line of the two-dimensional projection of complicated harbour machinery;
(2) distance between two adjacent complicated harbour machinery silhouette edge boundary lines is calculated;
(3) minor increment between two adjacent complicated harbour machinery silhouette edge boundary lines is determined;
(4) judge whether minor increment is less than the safety value of setting, when being less than, adjacent complicated harbour machinery runs slowly or out of service respectively, and mutually sends corresponding alarm.
In some embodiments, step (1) can comprise:
A, obtain the position of each dimension of complicated harbour machinery movable part;
B, obtain the dimensional data of each parts of complicated harbour machinery;
C, obtain the two-dimensional projection of complicated harbour machinery;
D, determine the silhouette edge boundary line of the two-dimensional projection of complicated harbour machinery.
In some embodiments, safety value in step (4) can comprise minimum guard value and minimum alarm value, when minor increment when between adjacent complicated harbour machinery is less than minimum alarm value, complicated harbour machinery runs slowly and sends to adjacent complicated harbour machinery alarm of running slowly, when minor increment when between adjacent complicated harbour machinery is less than minimum guard value, complicated harbour machinery is out of service and send alarm out of service to adjacent complicated harbour machinery.
Minimum guard value and minimum alarm value determine according to the complicated harbour machinery in actual job.
The guarded by location method of a kind of complicated harbour machinery based on projected boundary of the present invention; the position of three-dimensional complicated harbour machinery is projected to two dimensional surface; the distance calculated between projected boundary judges mutual distance; complete the comprehensive preventing collision protection of adjacent complicated harbour machinery; take full advantage of space, harbour; achieve omnibearing guarded by location, simple easily enforcement.
According to another aspect of the present invention, provide a kind of guarded by location device of the complicated harbour machinery based on projected boundary, comprise first, second placement data acquisition unit, first, second information exchange unit and first, second control module, wherein:
Primary importance data acquisition unit, for gathering the position data of the first complicated harbour machinery, and is defeated by the first control module and first information crosspoint by position data;
First information crosspoint, for receiving the position data that primary importance data acquisition unit exports, and flows to the second control module;
First control module, for the position data of the second complicated harbour machinery that the position data and the second information exchange unit that receive the output of primary importance data acquisition unit export, calculate the distance between first, second adjacent complicated harbour machinery silhouette edge boundary line and draw minor increment, judge whether minor increment is less than the safety value of setting, when being less than, send deceleration or guarded command out of service to the first complicated harbour machinery, and send corresponding alarm to the second complicated harbour machinery;
Second place data acquisition unit, for gathering the position data of the second complicated harbour machinery, and is defeated by the second control module and the second information exchange unit by position data;
Second information exchange unit, for receiving the position data that primary importance data acquisition unit exports, and flows to the first control module;
Second control module; for the position data of the first complicated harbour machinery that the position data and first information crosspoint that receive the output of second place data acquisition unit export; calculate the distance between first, second adjacent complicated harbour machinery silhouette edge boundary line and draw minor increment; judge whether minor increment is less than the safety value of setting; when being less than; send deceleration or guarded command out of service to the second complicated harbour machinery, and send corresponding alarm to the first complicated harbour machinery.
In some embodiments; first control module is connected with the second control module communication; when the first control module and the second control module detect the first control module to be connected with the second control module communication disconnect time; first control module sends guarded command out of service to the first complicated harbour machinery, and the second control module sends guarded command out of service to the second complicated harbour machinery.
Accompanying drawing explanation
Fig. 1 is the structural representation of grab type ship unloaders.
Fig. 2 is the structural representation of chain bucket ship unloader.
Fig. 3 for when the ship unloaders of grab type shown in Fig. 1 are in large arm non-lifting status and chain bucket ship unloader shown in Fig. 2 be applied to the two-dimension projection of the guarded by location method of a kind of complicated harbour machinery based on projected boundary of the present invention.
Fig. 4 for when the ship unloaders of grab type shown in Fig. 1 are in large arm lifting status and chain bucket ship unloader shown in Fig. 2 be applied to the two-dimension projection of the guarded by location method of a kind of complicated harbour machinery based on projected boundary of the present invention.
Fig. 5 is the structure principle chart of the guarded by location device of a kind of complicated harbour machinery based on projected boundary of the present invention.
Wherein: A-grab type ship unloaders; B-chain bucket ship unloader; C-port track; A01-cart; A02-grabs bucket; A03-large arm; B01-cart; The large revoliving arm of B02-; The little revoliving arm of B03-; 1-primary importance data acquisition unit; 2-first information crosspoint; 3-first control module; 4-second place data acquisition unit; 5-second information exchange unit; 6-second control module.
Embodiment
Be described in further detail below in conjunction with the guarded by location method and apparatus of accompanying drawing to a kind of complicated harbour machinery based on projected boundary of the present invention.
The guarded by location method of a kind of complicated harbour machinery based on projected boundary of the present invention can be applied to the guarded by location between identical complicated harbour machinery, also can be applied to the guarded by location between different complicated harbour machineries.
In the present embodiment, for common two kinds of different complicated harbour machineries, A grab type ship unloaders as shown in Figure 1 and chain bucket ship unloader B as shown in Figure 2.
When carrying out harbour service, the cart A01 of grab type ship unloaders A can carry out horizontal direction along port track C and move forward and backward, and grab bucket A02 along wire rope VTOL (vertical take off and landing), can move left and right along the horizontal direction of large arm A03, the liftable 80 degree of angles of large arm A03.The cart B01 of chain bucket ship unloader B can carry out horizontal direction along port track C and move forward and backward, and large revoliving arm B02 can 360 degree of rotations in the horizontal direction, and also can carry out pitching motion at vertical direction, little revoliving arm B03 can 360 degree of rotations in the horizontal direction.
Be applied to grab type ship unloaders A and chain bucket ship unloader B to the guarded by location method of a kind of complicated harbour machinery based on projected boundary of the present invention to be below described in detail.
(1) obtain and determine the silhouette edge boundary line of the two-dimensional projection of complicated harbour machinery:
A, obtain the position of each dimension of complicated harbour machinery movable part:
For grab type ship unloaders A, obtain the position of cart A01 on port track C, obtain large arm A03 and whether be in cocked position.
For chain bucket ship unloader B, obtain the position of cart B01 on port track C, obtain the angle α of large revoliving arm B02 and port track C, obtain the angle β of little revoliving arm B03 and port track C, shown in Figure 3.
B, obtain the dimensional data of each parts of complicated harbour machinery:
The dimensional data of each parts of grab type ship unloaders A and chain bucket ship unloader B is obtained from Machine Design drawing.
C, obtain the two-dimensional projection of complicated harbour machinery:
The position of cart A01 on port track C of the grab type ship unloaders A obtained is combined with the dimensional data of each parts of grab type ship unloaders A, ignore vertical dimensions, the three-dimensional mechanical location of grab type ship unloaders A is projected to harbour surface level, obtains the two-dimensional projection of grab type ship unloaders A at harbour surface level.
By the position of cart B01 on port track C of the chain bucket ship unloader B of acquisition, the angle α of large revoliving arm B02 and port track C, little revoliving arm B03 is combined with the dimensional data of chain bucket ship unloader B parts with the angle β of port track C, ignore vertical dimensions, the three-dimensional mechanical location of chain bucket ship unloader B is projected to harbour surface level, obtains the two-dimensional projection of chain bucket ship unloader B at harbour surface level.
D, determine the silhouette edge boundary line of the two-dimensional projection of complicated harbour machinery:
The two-dimensional projection of grab type ship unloaders A is simplified, only retains outer boundary.The position that may collide that grab type ship unloaders A is corresponding is the projected boundary of the rightmost side, i.e. the A1-A2-A3-A4-A5 of line segment shown in Fig. 3 and Fig. 4.
This line segment can be reduced to straight line A1-A2 and straight line A3-A4.
The two-dimensional projection of chain bucket ship unloader B is simplified, only retains outer boundary.The projected boundary of the leftmost side, position that may collide that chain bucket ship unloader B is corresponding, the line segment B1-B2-B3-B4-B5 namely shown in Fig. 3.Line segment B1-B2 can be reduced to, B2-B3, B4-B5.
(2) distance between two adjacent complicated harbour machinery silhouette edge boundary lines is calculated:
Geometric ways is adopted to calculate line segment B1-B2, the minor increment of B2-B3, B4-B5 and straight line A1-A2, A3-A4, the multiple distances namely between grab type ship unloaders A and chain bucket ship unloader B silhouette edge boundary line.Specific algorithm is as follows:
With port track C for X-axis, A3 point is initial point, is that forward sets up rectangular coordinate system toward chain bucket ship unloader B direction.
Chain bucket ship unloader B projected boundary is at the min coordinates X of X-axis
min-B=min{X
b1, X
b2, X
b3, X
b4, X
b5.
The distance D of line segment A3-A4 and line segment B4-B5
1-A=X
b4-X
a3.
The projected boundary of chain bucket ship unloader B is to straight line A1-A2 minor increment D
2-A=X
min-B-X
a1.
The projected boundary of chain bucket ship unloader B is to straight line A3-A4 minor increment D
3-A=X
min-B-X
a3.
The minor increment of A3 to line segment B1-B2 is D
4-A.
The minor increment of A4 to line segment B1-B2 is D
5-A.
(3) minor increment between two adjacent complicated harbour machinery silhouette edge boundary lines is determined:
Line segment B1-B2, the minimum value in the minor increment of B2-B3, B4-B5 and straight line A1-A2, A3-A4, is the minor increment between grab type ship unloaders A and chain bucket ship unloader B silhouette edge boundary line.
Concrete deterministic process is as follows:
Minor increment between definition grab type ship unloaders A and chain bucket ship unloader B silhouette edge boundary line is D
min.
Field measurement determines the security standpoint α of large revoliving arm B02
1as the 90 ° of < α <180 ° in large angle of revolution, the distance (i.e. the distance of cart A01 and cart B01) keeping line segment A3-A4 and line segment B4-B5 is minimum safe distance, when the α distance increased between large revoliving arm B02 and A3 is less than the safety value of setting, definition α 1=180 °-α.In this example, α
1=20 °.
When α <90 ° or 180 ° of < α, D
min=min{D
1-A, D
3-A.
As 90 ° of < α < α
1time, D
min=min{D
1-A, D
2-A, D
3-A, D
4-A.
Work as α
1< α <180 °+α
1time, D
min=min{D
1-A, D
3-A.
As 180 ° of+α
1during < α <270 °, D
min=min{D
1-A, D
2-A, D
3-A, D
5-A.
(4) judge whether minor increment is less than the safety value of setting, when being less than, adjacent complicated harbour machinery runs slowly or out of service respectively, and mutually sends corresponding alarm.
Safety value comprises minimum guard value and minimum alarm value.Minimum safe distance and minimum alarm distance are determined according to the complicated harbour machinery in actual job, are respectively 2m and 4m in this example.
Specifically, be exactly minor increment D when between grab type ship unloaders A and chain bucket ship unloader B
minwhen being less than 4m, grab type ship unloaders A and chain bucket ship unloader B runs slowly separately in opposite directions, and mutually send the alarm of running slowly, namely the cart A01 deceleration of grab type ship unloaders A runs to chain bucket ship unloader B, the cart of chain bucket ship unloader B slows down and runs to grab type ship unloaders A, and large revoliving arm B02 and little revoliving arm B03 slows down towards grab type ship unloaders A direction and rotates.
Minor increment D when between grab type ship unloaders A and chain bucket ship unloader B
minwhen being less than 2m, grab type ship unloaders A and chain bucket ship unloader B is out of service in opposite directions separately, and mutually send the alarm of running slowly, namely the cart A01 of grab type ship unloaders A stops running to chain bucket ship unloader B, the cart of chain bucket ship unloader B stops running to grab type ship unloaders A, and large revoliving arm B02 and little revoliving arm B03 stops rotating towards grab type ship unloaders A direction.
Fig. 4 show schematically show the structure principle chart of the guarded by location device of a kind of complicated harbour machinery based on projected boundary of the present invention.
As shown in Figure 4; primary importance data acquisition unit 1, first information crosspoint 2 and the first control module 3 should be comprised based on guarded by location device of the complicated harbour machinery of projected boundary, and second place data acquisition unit 4, second information exchange unit 5 and the second control module 6.
Position data for gathering the position data of the first complicated harbour machinery, and is defeated by the first control module 3 and first information crosspoint 2 by primary importance data acquisition unit 1.The position data that first information crosspoint 2 exports for receiving primary importance data acquisition unit 1, and flow to the second control module 6.The position data of the second complicated harbour machinery that the first control module 6 exports for the position data and the second information exchange unit 2 receiving primary importance data acquisition unit 1 output; calculate the distance between first, second complicated harbour machinery silhouette edge boundary line adjacent and draw minor increment; judge whether minor increment is less than the safety value of setting; when being less than; send deceleration or guarded command out of service to the first complicated harbour machinery, and send corresponding alarm to adjacent complicated harbour machinery.
Position data for gathering the position data of the second harbour machinery, and is defeated by the second control module 6 and the second information exchange unit 5 by second place data acquisition unit 4.The position data that second information exchange unit 5 exports for receiving second place data acquisition unit 4, and flow to the first control module 3.The position data of the first complicated harbour machinery that the second control module 6 exports for the position data and first information crosspoint 2 receiving second place data acquisition unit 4 output; calculate the distance between first, second complicated harbour machinery silhouette edge boundary line adjacent and draw minor increment; judge whether minor increment is less than the safety value of setting; when being less than; send deceleration or guarded command out of service to the second harbour machinery, and send corresponding alarm to the first complicated harbour machinery.
Primary importance data acquisition unit 1 and second place data acquisition unit 4 are the sensor detecting each dimension displacement of harbour machinery or angle of revolution.In the present embodiment, comprise cart position coder, angle of revolution scrambler, luffing angle scrambler and pitch position sensors etc.
Specifically, the cart A01 being exactly grab type ship unloaders A is provided with cart position coder, for obtaining the position of cart A01 on port track C, and flow to the first control module 3 and first information crosspoint 2.Large arm A03 is provided with pitch position sensors, whether is in cocked position for obtaining large arm A03 and flows to the first control module 3 and first information crosspoint 2.
The cart B01 of chain bucket ship unloader B is provided with cart position coder, for obtaining the position of cart B01 on port track C, and flows to the second control module 6 and first information crosspoint 2.Large revoliving arm B02 and little revoliving arm B03 is separately installed with angle of revolution scrambler, for obtaining the angle α with port track C, and the angle β of little revoliving arm B03 and port track C, and flow to the second control module 6 and the second information exchange unit 5.
First information crosspoint 2 and the second information exchange unit 5 comprise the hardware for carrying communication network, such as switch, optical cable, network interface card etc.In the present embodiment, first information crosspoint 2 and the second information exchange unit 5 in a unit integrated, be both-way communication unit.
In the present embodiment, the first control module 3 and the second control module 6 are respectively PLC.
First control module 3 is connected with the second control module 6 communication; when the first control module 3 and the second control module 6 detect the first control module 3 to be connected with the second control module 6 communication disconnect time; first control module 3 sends guarded command out of service to the first complicated harbour machinery, and the second control module 6 sends guarded command out of service to the second complicated harbour machinery.
Specifically, collision prevention function disappearance exactly for preventing communication failure from causing, first control module 3 will uninterruptedly send after pulse signal receives pulse signal to the second control module 6, first control module 3, immediately this signal be sent back to the second control module 6.First control module 3 and the second control module 6 uninterruptedly detect this signal, if this signal saltus step does not occur in 2s, then think two adjacent complicated harbour machinery generation communication failures.First control module 3 sends control command out of service to grab type ship unloaders A.Second control module 6 sends control command out of service to chain bucket ship unloader B.
Above-described is only some embodiments of the present invention.For the person of ordinary skill of the art, without departing from the concept of the premise of the invention, can also make some distortion and improvement, these all belong to protection scope of the present invention.
Claims (5)
1., based on a guarded by location method for the complicated harbour machinery of projected boundary, it is characterized in that, comprise the following steps:
(1) obtain and determine the silhouette edge boundary line of the two-dimensional projection of three-dimensional complicated harbour machinery;
(2) distance between two adjacent complicated harbour machinery silhouette edge boundary lines is calculated;
(3) minor increment between two adjacent complicated harbour machinery silhouette edge boundary lines is determined;
(4) judge whether minor increment is less than the safety value of setting, when being less than, adjacent complicated harbour machinery runs slowly or out of service respectively, and mutually sends corresponding alarm.
2. the guarded by location method of a kind of complicated harbour machinery based on projected boundary according to claim 1, it is characterized in that, described step (1) comprising:
A, obtain the position of each dimension of complicated harbour machinery movable part;
B, obtain the dimensional data of each parts of complicated harbour machinery;
C, obtain the two-dimensional projection of complicated harbour machinery;
D, determine the silhouette edge boundary line of the two-dimensional projection of complicated harbour machinery.
3. the guarded by location method of a kind of complicated harbour machinery based on projected boundary according to claim 1; it is characterized in that; safety value in described step (4) comprises minimum guard value and minimum alarm value; when minor increment when between adjacent complicated harbour machinery is less than minimum alarm value; complicated harbour machinery runs slowly and sends to adjacent complicated harbour machinery alarm of running slowly; when minor increment when between adjacent complicated harbour machinery is less than minimum guard value, complicated harbour machinery is out of service and send alarm out of service to adjacent complicated harbour machinery.
4. based on a guarded by location device for the complicated harbour machinery of projected boundary, it is characterized in that, comprise first, second placement data acquisition unit, first, second information exchange unit and first, second control module, wherein:
Primary importance data acquisition unit, for gathering the position data of the first complicated harbour machinery, and is defeated by the first control module and first information crosspoint by position data;
First information crosspoint, for receiving the position data that primary importance data acquisition unit exports, and flows to the second control module;
First control module, for the position data of the second complicated harbour machinery that the position data and the second information exchange unit that receive the output of primary importance data acquisition unit export, calculate the distance between first, second adjacent complicated harbour machinery silhouette edge boundary line and draw minor increment, judge whether minor increment is less than the safety value of setting, when being less than, send deceleration or guarded command out of service to the first complicated harbour machinery, and send corresponding alarm to the second complicated harbour machinery;
Second place data acquisition unit, for gathering the position data of the second complicated harbour machinery, and is defeated by the second control module and the second information exchange unit by position data;
Second information exchange unit, for receiving the position data that second place data acquisition unit exports, and flows to the first control module;
Second control module; for the position data of the first complicated harbour machinery that the position data and first information crosspoint that receive the output of second place data acquisition unit export; calculate the distance between first, second adjacent complicated harbour machinery silhouette edge boundary line and draw minor increment; judge whether minor increment is less than the safety value of setting; when being less than; send deceleration or guarded command out of service to the second complicated harbour machinery, and send corresponding alarm to the first complicated harbour machinery.
5. the guarded by location device of a kind of complicated harbour machinery based on projected boundary according to claim 4; it is characterized in that; described first control module is connected with the second control module communication; when the first control module and the second control module detect the first control module to be connected with the second control module communication disconnect time; first control module sends guarded command out of service to the first complicated harbour machinery, and the second control module sends guarded command out of service to the second complicated harbour machinery.
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| RU2458257C1 (en) * | 2011-04-14 | 2012-08-10 | Закрытое акционерное общество "Научно-исследовательский и конструкторский институт центробежных и роторных компрессоров им. В.Б. Шнеппа" | Protection method for turbocompressor against stalling |
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