CN104952283A - DGPS (differential global positioning system) anti-collision system of mobile machines of bulk cargo terminal storage yard - Google Patents
DGPS (differential global positioning system) anti-collision system of mobile machines of bulk cargo terminal storage yard Download PDFInfo
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- CN104952283A CN104952283A CN201510210673.4A CN201510210673A CN104952283A CN 104952283 A CN104952283 A CN 104952283A CN 201510210673 A CN201510210673 A CN 201510210673A CN 104952283 A CN104952283 A CN 104952283A
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Abstract
A DGPS (differential global positioning system) anti-collision system of mobile machines of a bulk cargo terminal storage yard comprises a DGPS base station, moving stations of the mobile machines, a communication system, a PLC (programmable logic controller) system and a man-machine interface. The DGPS base station is bidirectionally connected with the PLC system, the PLC system is bidirectionally connected with the man-machine interface, the output end of the communication system is connected with the input end of the DGPS base station, and the output ends of the moving stations of the mobile machines are connected with the input end of the communication system. By the Ethernet, the moving stations are connected with the DGPS base station to form an independent DGPS measuring system, the DGPS system is in data interaction with the PLC system in a hardware configuration manner, and the PLC system can perform logic operation of DGPS data according to the space anti-collision algorithm model; according to different results, risk anticipating and warning of travelling, pitching and rotation of the mobile machines can be realized as well as anti-collision control between the mobile machines of the integral storage yard.
Description
Technical field
The present invention relates to a kind of mobile unit collision avoidance system, particularly relate to and a kind ofly move DGPS collision avoidance system between unit for harbour bulk storage yard.
Background technology
Along with improving constantly of harbour bulk cargo terminals management expectancy, the demand for security for equipment, property safety also improves constantly.For improving operating efficiency and dirigibility, the bulk storage yard technology arrangement of modern port, there is multiple stage to move unit (stacker, reclaimer, stacker-reclaimer) work compound in same stockyard jointly, between mobile unit, there is very large risk of collision.Every platform unit cost, up to three, 40,000,000 yuan, once collide, will cause serious machine to undermine human casualty accident, and affects work production and normally carry out, and brings huge economic loss to enterprise.In addition, unmanned, the Intellectualized Tendency of harbour production operation, also propose higher technical requirement to the anticollision of mobile unit.
Summary of the invention
A kind of harbour bulk storage yard that is applicable to is the object of the present invention is to provide to move anti-collision control system between unit, to realize piling the security control in place production operation process between mobile unit.
Bulk cargo terminal storage yard moves unit DGPS collision avoidance system, it comprises DGPS base station, the rover station of each mobile unit, communication system, PLC system and man-machine interface, described DGPS base station and PLC system are bi-directionally connected, described PLC system and man-machine interface are bi-directionally connected, the output terminal of described communication system connects the input end of DGPS base station, the input end of the output terminal connection communication system of the rover station of described each mobile unit.
Described DGPS base station is arranged on ground fixed-site, and for providing the spatial position data information of base station, and process is from the spatial position data information of rover station on each unit.
The rover station of described each mobile unit is for measuring the locus real time data information in each unit moving process.
Described communication system is used for the networking between each unit rover station and DGPS base station, the data communication between DGPS base station and PLC system.
Described PLC system is arranged on ground fixed-site, for receiving DGPS base station data, and carries out logical process according to space anticollision model algorithm to data, according to the different actions of each mobile unit of output control.
Described man-machine interface is used for each mobile station system data display of DGPS base station; and graphically show the relative tertiary location of each unit of whole heap field areas in real time; for operator provides the anticollision information of image, and warning is provided and shuts down distance from set-up function.
Beneficial effect of the present invention: native system passes through communication system, the connection of rover station and DGPS base station is achieved with Ethernet form, form independently DGPS measuring system, by related communication module, the data interaction of DGPS base station and PLC system is achieved in hardware configuration mode, PLC system is according to space anti-collision algorithm model, logical operation is carried out to DGPS data, and according to the walking of different results to mobile unit, pitching, risk anticipation and warning are carried out in revolution, and then the anticollision realizing moving between unit whole heap place controls, system arranges interface simultaneously, system manager is allowed to carry out collision avoidance system warning according to stockyard situation, shut down distance setting, achieve the technological incorporation of DGPS base station and control system.
Accompanying drawing explanation
Accompanying drawing is the structural representation that bulk cargo terminal storage yard of the present invention moves unit DGPS collision avoidance system.
Embodiment
Below in conjunction with accompanying drawing, the present invention is described in detail.
Bulk cargo terminal storage yard moves unit DGPS collision avoidance system, and it is arranged on the DGPS base station of ground fixed-site, and for providing the spatial position data information of base station, and process is from the spatial position data information at mover station, each unit upper reaches; Be arranged on the rover station of each mobile unit, for measuring the locus real time data information in each unit moving process; Communication system, for the networking between each unit rover station and DGPS base station, data communication between DGPS base station and PLC system; Being arranged on the PLC system of ground fixed-site, for receiving DGPS base station data, and according to space anticollision model algorithm, logical process being carried out to data, according to the different actions of each mobile unit of output control; Man-machine interface, for each mobile station system data display of DGPS base station, and graphically shows the relative tertiary location of each unit of whole heap field areas in real time, for operator provides the anticollision information of image, and provides warning and shuts down distance from set-up function.
In production operation process, rover station measures the spatial position data of mobile unit in real time, by communication system, position data is issued DGPS base station system, comprises the spatial position data information of all mobile units of system in the controller in DGPS base station system.By communication system, DGPS base station system and PLC system carry out data communication, and data interaction form is determined according to the logical operation demand of PLC system, mainly comprises controller state information, positional information etc.
After PLC system receives DGPS base station data; according to mobile unit space anticollision model algorithm, logical operation is carried out to DGPS base station system data; warning or stopping signal is sent according to operation result; and then control the walking of mobile unit, pitching, revolution action, avoid the collision between mobile unit and other unit of stockyard may.Meanwhile, operator each can move the relative position between unit according to the whole heap place of upper man-machine interface Real Time Observation, and judges that heap place is moved the situation between unit and collides possibility by the different colours in picture, operates collision free at any time.In addition, operator can carry out from setting warning and shutdown distance according to actual conditions.
System is applied in the stockyard of harbour bulk cargo terminals, the data interaction of DGPS base station and PLC system is realized by Ethernet and hardware configuration mode, and according to space anticollision model, heap place is moved unit anticollision problem and be converted into spatial line segment short distance problem.By the anticollision logical operation in PLC system, control the walking of mobile unit, pitching, revolution action in real time, the security of stand-alone device is moved in the heap place that effectively improve harbour production run.
Claims (6)
1. bulk cargo terminal storage yard moves unit DGPS collision avoidance system, it is characterized in that, comprise DGPS base station, the rover station of each mobile unit, communication system, PLC system and man-machine interface, described DGPS base station and PLC system are bi-directionally connected, described PLC system and man-machine interface are bi-directionally connected, the output terminal of described communication system connects the input end of DGPS base station, the input end of the output terminal connection communication system of the rover station of described each mobile unit.
2. bulk cargo terminal storage yard according to claim 1 moves unit DGPS collision avoidance system, it is characterized in that, described DGPS base station is arranged on ground fixed-site, and for providing the spatial position data information of base station, and process is from the spatial position data information of rover station on each unit.
3. bulk cargo terminal storage yard according to claim 2 moves unit DGPS collision avoidance system, it is characterized in that, the rover station of described each mobile unit is for measuring the locus real time data information in each unit moving process.
4. bulk cargo terminal storage yard according to claim 3 moves unit DGPS collision avoidance system, it is characterized in that, described communication system is used for the networking between the rover station of each unit and DGPS base station, the data communication between DGPS base station and PLC system.
5. bulk cargo terminal storage yard according to claim 4 moves unit DGPS collision avoidance system, it is characterized in that, described PLC system is arranged on ground fixed-site, for receiving DGPS base station data, and according to space anticollision model algorithm, logical process is carried out to data, according to the different actions of each mobile unit of output control.
6. bulk cargo terminal storage yard according to claim 1 moves unit DGPS collision avoidance system; it is characterized in that; described man-machine interface is used for the display of each mobile station system data; and graphically show the relative tertiary location of each unit of whole heap field areas in real time; the anticollision information of image is provided, and warning is provided and shuts down distance from set-up function.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510210673.4A CN104952283A (en) | 2015-04-28 | 2015-04-28 | DGPS (differential global positioning system) anti-collision system of mobile machines of bulk cargo terminal storage yard |
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| CN201510210673.4A CN104952283A (en) | 2015-04-28 | 2015-04-28 | DGPS (differential global positioning system) anti-collision system of mobile machines of bulk cargo terminal storage yard |
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| CN104952283A true CN104952283A (en) | 2015-09-30 |
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- 2015-04-28 CN CN201510210673.4A patent/CN104952283A/en active Pending
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN101104480A (en) * | 2006-07-14 | 2008-01-16 | 宝山钢铁股份有限公司 | Unmanned piling and taking technique for bulk cargo stock yard |
| CN101121469A (en) * | 2006-08-10 | 2008-02-13 | 包起帆 | Bulk cargo automation field material stacking and fetching system and its material stacking and fetching method |
| CN201199327Y (en) * | 2008-05-28 | 2009-02-25 | 青岛港（集团）有限公司 | Transmission system for interlocked signals of stacker-reclaimer |
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Application publication date: 20150930 |