CN105668258A - Anti-collision method and system for material taking machines - Google Patents
Anti-collision method and system for material taking machines Download PDFInfo
- Publication number
- CN105668258A CN105668258A CN201511006049.9A CN201511006049A CN105668258A CN 105668258 A CN105668258 A CN 105668258A CN 201511006049 A CN201511006049 A CN 201511006049A CN 105668258 A CN105668258 A CN 105668258A
- Authority
- CN
- China
- Prior art keywords
- reclaimer
- coordinate
- predeterminated position
- movable information
- cantilever
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G65/00—Loading or unloading
- B65G65/005—Control arrangements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/02—Control or detection
- B65G2203/0266—Control or detection relating to the load carrier(s)
- B65G2203/0283—Position of the load carrier
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention relates to the field of automatic control and discloses an anti-collision method for material taking machines. The method comprises the steps that collected motion information of all the material taking machines is received; coordinates of preset positions of the material taking machines are calculated according to the motion information of all the material taking machines, and the distance between the preset positions of the material taking machines is calculated according to the coordinates of the preset positions of all the material taking machines; and whether the distance between the preset positions of all the material taking machines exceeds a preset distance threshold value or not is judged, and corresponding anti-collision operation is executed when the distance between the preset positions of the material taking machine exceeds the preset distance threshold value. By the adoption of the anti-collision method, the material taking machines in a bulk cargo field can be prevented from colliding with one another.
Description
Technical field
The present invention relates to automation control area, in particular it relates to the method and system of reclaimer anticollision.
Background technology
Along with the development of marine ships transport service, harbour material handling capacity is also in quick growth. Reclaimer plays a significant role in the assembling of harbour bulk cargo stock yard. For adapting to the harbour ever-increasing requirement of material handling capacity, the bulk cargo stock yard at harbour adopts the reclaimer of Automated condtrol to be operated at present.
Due to bulk cargo stock yard, all ubiquity cargo type is many, and volume is big, and outdoor conditions is changeable, the diversified feature of field apparatus model, make the reclaimer of Automated condtrol at bulk cargo stock yard normal operation, it is necessary to provide the mechanism of anticollision for reclaimer, it is to avoid collide between reclaimer.
Summary of the invention
It is an object of the invention to provide the method and system of reclaimer anticollision, to solve above-mentioned technical problem or the above-mentioned technical problem of at least part of solution.
To achieve these goals, the present invention provides a kind of method of reclaimer anticollision, and the method includes: receive the movable information of each reclaimer gathered; Movable information according to each reclaimer calculates the coordinate of predeterminated position in reclaimer, calculates the spacing between the predeterminated position of reclaimer according to the coordinate of predeterminated position in each reclaimer; Judge whether the spacing between the predeterminated position of each reclaimer exceedes preset pitch threshold value, when the spacing between the predeterminated position of reclaimer exceedes preset pitch threshold value, take corresponding anticollision operation.
Preferably, described predeterminated position includes suspending arm rotary center and the bucket wheel front end of reclaimer; Described movable information includes the distance travelled of reclaimer and direction, the gyratory directions of reclaimer and angle, and the pitch orientation of the cantilever of reclaimer and angle; The described movable information according to each reclaimer calculates the coordinate of predeterminated position in reclaimer and includes: the coordinate according to the distance travelled of reclaimer He the suspending arm rotary center of direction calculating reclaimer; The coordinate at suspending arm rotary center according to reclaimer, the gyratory directions of reclaimer and angle, and the coordinate of the bucket wheel front end of the pitch orientation of the cantilever of reclaimer and angle calculation reclaimer.
Preferably, described method also includes: determine the scanning space of the scanner being positioned at reclaimer cantilever in three-dimensional system of coordinate according to the movable information of reclaimer; Receive the scanning information of scanner; Scanning information according to scanner judges whether the protective zone being arranged in scanning space has object, when having object in protective zone, takes corresponding anticollision operation.
Preferably, described method also includes: electric current in the bucket wheel of monitoring reclaimer, when instantaneous bucket wheel electric current exceedes predetermined current threshold, controls reclaimer and carries out back operation.
Preferably, described method also includes: receives the signal that the limit switch of the cantilever being positioned at reclaimer sends when touching object, and upon receipt of the signals reclaimer is taked shutdown operation.
According to a further aspect in the invention, also disclose the system of a kind of reclaimer anticollision, this system includes control equipment and is positioned at the programmable logic controller (PLC) of reclaimer, the movable information of the described programmable logic controller (PLC) each reclaimer for gathering, described movable information is sent to described control equipment, described control equipment includes: receiver module, for receiving the movable information of each reclaimer of collection; Computing module, calculates the coordinate of predeterminated position in reclaimer for the movable information according to each reclaimer, calculates the spacing between the predeterminated position of reclaimer according to the coordinate of predeterminated position in each reclaimer;
Anticollision module, whether the spacing being used for judging between the predeterminated position of each reclaimer exceedes preset pitch threshold value, when the spacing between the predeterminated position of reclaimer exceedes preset pitch threshold value, takes corresponding anticollision operation.
Preferably, described predeterminated position includes suspending arm rotary center and the bucket wheel front end of reclaimer; Described movable information includes the distance travelled of reclaimer and direction, the gyratory directions of reclaimer and angle, and the pitch orientation of the cantilever of reclaimer and angle; Described computing module is for the coordinate according to the distance travelled of reclaimer He the suspending arm rotary center of direction calculating reclaimer; The coordinate at suspending arm rotary center according to reclaimer, the gyratory directions of reclaimer and angle, and the coordinate of the bucket wheel front end of the pitch orientation of the cantilever of reclaimer and angle calculation reclaimer.
Preferably, described computing module is additionally operable to the movable information according to reclaimer and determines the scanning space of the scanner being positioned at reclaimer cantilever in three-dimensional system of coordinate; Described receiver module is additionally operable to receive the scanning information of scanner; Described anticollision module is additionally operable to the scanning information according to scanner and judges whether the protective zone being arranged in scanning space has object, when having object in protective zone, takes corresponding anticollision operation.
Preferably, described programmable logic controller (PLC) is additionally operable to electric current in the bucket wheel of monitoring reclaimer, when instantaneous bucket wheel electric current exceedes predetermined current threshold, controls reclaimer and carries out back operation.
Preferably, described programmable logic controller (PLC) is additionally operable to the signal that the limit switch receiving the cantilever being positioned at reclaimer sends when touching object, and upon receipt of the signals reclaimer is taked shutdown operation.
By technique scheme, receive the movable information of each reclaimer gathered; Movable information according to each reclaimer calculates the coordinate of predeterminated position in reclaimer, calculates the spacing between the predeterminated position of reclaimer according to the coordinate of predeterminated position in each reclaimer; Judge whether the spacing between the predeterminated position of each reclaimer exceedes preset pitch threshold value, when the spacing between the predeterminated position of reclaimer exceedes preset pitch threshold value, take corresponding anticollision operation. So, it is possible to avoid bulk cargo stock yard collides between reclaimer.
Other features and advantages of the present invention will be described in detail in detailed description of the invention part subsequently.
Accompanying drawing explanation
Accompanying drawing is used to provide a further understanding of the present invention, and constitutes the part of description, is used for explaining the present invention, but is not intended that limitation of the present invention together with detailed description below. In the accompanying drawings:
Fig. 1 is the flow chart of the method for reclaimer anticollision according to an embodiment of the invention;
Fig. 2 is the schematic diagram of the scanning space determining scanner according to an embodiment of the invention; And
Fig. 3 is the structure chart of the system of reclaimer anticollision according to an embodiment of the invention.
Detailed description of the invention
Below in conjunction with accompanying drawing, the specific embodiment of the present invention is described in detail. It should be appreciated that detailed description of the invention described herein is merely to illustrate and explains the present invention, it is not limited to the present invention.
Fig. 1 is the flow chart of the method for reclaimer anticollision according to an embodiment of the invention. As it is shown in figure 1, the method can comprise the steps.
In step s 110, the movable information of each reclaimer gathered is received.
For example, the programmable logic controller (PLC) PLC on reclaimer gathers the movable information of reclaimer, for instance gather, by fieldbus, the movable information that corresponding encoded device obtains in real time. Movable information comprises the steps that the distance travelled of reclaimer and direction, the gyratory directions of reclaimer and angle, and the pitch orientation of the cantilever of reclaimer and angle. The movable information of reclaimer is sent to control equipment by programmable logic controller (PLC) PLC. Bulk cargo stock yard includes multiple reclaimer, and control equipment receives the movable information of each reclaimer.
In the step s 120, calculate the coordinate of predeterminated position in reclaimer according to the movable information of each reclaimer, calculate the spacing between the predeterminated position of reclaimer according to the coordinate of predeterminated position in each reclaimer.
In one embodiment, predeterminated position includes suspending arm rotary center and the bucket wheel front end of reclaimer; Movable information includes the distance travelled of reclaimer and direction, the gyratory directions of reclaimer and angle, and the pitch orientation of the cantilever of reclaimer and angle. The described movable information according to each reclaimer calculates the coordinate of predeterminated position in reclaimer and includes: the coordinate according to the distance travelled of reclaimer He the suspending arm rotary center of direction calculating reclaimer; The coordinate at suspending arm rotary center according to reclaimer, the gyratory directions of reclaimer and angle, and the coordinate of the bucket wheel front end of the pitch orientation of the cantilever of reclaimer and angle calculation reclaimer.
For example, control equipment sets up three-dimensional system of coordinate, and the suspending arm rotary center and the bucket wheel front end that take sampler are predeterminated position. According to the distance travelled of reclaimer and direction, the basis of original coordinate at suspending arm rotary center may determine that the suspending arm rotary center coordinate in new position. At suspending arm rotary center on the basis of the coordinate of new position, according to the gyratory directions of reclaimer and angle, and the pitch orientation of the cantilever of reclaimer and angle draw the changing coordinates of bucket wheel front end of reclaimer. Utilize the coordinate at the suspending arm rotary center of each reclaimer, calculate the distance between the suspending arm rotary center of each two reclaimer, utilize the coordinate of the bucket wheel front end of each reclaimer, calculate the distance between the bucket wheel front end of each two reclaimer.
In step s 130, it is judged that whether the spacing between the predeterminated position of each reclaimer exceedes preset pitch threshold value, when the spacing between the predeterminated position of reclaimer exceedes preset pitch threshold value, take corresponding anticollision operation.
For example, distance between the suspending arm rotary center of certain two reclaimer is less than the first spacing threshold, or the distance between the bucket wheel front end of certain two reclaimer less than the first spacing threshold time, control equipment sends signals to these two reclaimers, and to control it out of service. Distance between the suspending arm rotary center of certain two reclaimer is less than the second spacing threshold and more than the first spacing threshold, or the distance between the bucket wheel front end of certain two reclaimer less than the second spacing threshold and more than the first spacing threshold time, control equipment is reported to the police.
Adopt technique scheme it can be avoided that bulk cargo stock yard collides between reclaimer.
In one embodiment, utilize whether scanner detection protective zone has object, to avoid the collision between reclaimer and object. Described method may also include that the movable information according to reclaimer determines the scanning space of the scanner being positioned at reclaimer cantilever in three-dimensional system of coordinate; Receive the scanning information of scanner; Scanning information according to scanner judges whether the protective zone being arranged in scanning space has object, when having object in protective zone, takes corresponding anticollision operation.
For example, as shown in Figure 2, cantilever at reclaimer installs scanner, such as laser scanner, scanner can launch single beam bundle, and single beam bundle is reflected after running into object, and scanner obtains reflected signal, reflected signal is sent to control equipment, for instance be transmitted directly to control equipment or be sent to control equipment by PLC. Control equipment sets up three-dimensional system of coordinate, according to the distance travelled of reclaimer and direction, may determine that the suspending arm rotary center coordinate in new position on the basis of original coordinate at suspending arm rotary center. Control equipment is at suspending arm rotary center on the basis of the coordinate of new position, and according to the gyratory directions of reclaimer and angle, and the pitch orientation of the cantilever of reclaimer and angle draw the changing coordinates of beam emissions point of scanner; The scanning space of scanner can be drawn further according to the beam emissions angle of scanner. Distance between foundation and reclaimer, determines protective zone in scanning space. Judge whether protective zone has object according to scanning information, when protective zone has object, take the corresponding operation reported to the police or stopped by reclaimer with the relation on protective zone border according to object space. Such as, when object space and protective zone border spacing are less than first threshold, reclaimer is stopped; When object space and protective zone border spacing are more than first threshold and less than Second Threshold, report to the police.
Adopt technique scheme it can be avoided that bulk cargo stock yard collides between reclaimer and object.
In one embodiment, described method also includes: electric current in the bucket wheel of monitoring reclaimer, when instantaneous bucket wheel electric current exceedes predetermined current threshold, controls reclaimer and carries out back operation.
For example, it is positioned at the PLC on reclaimer and monitors bucket wheel electric current. The change of bucket wheel electric current can reflect the size of instantaneous feeding flow. When instantaneous bucket wheel electric current exceedes predetermined current threshold, time namely excessive, it may be possible to there occurs that bucket wheel cultivates the situation on ground, now control reclaimer and carry out back operation.
Adopt technique scheme it can be avoided that reclaimer causes fault because cultivating ground situation in bulk cargo stock yard.
In one embodiment, described method also includes: receives the signal that the limit switch of the cantilever being positioned at reclaimer sends when touching object, and upon receipt of the signals reclaimer is taked shutdown operation.
For example; cantilever at reclaimer installs limit switch; such as steel wire rope limit switch; in cantilever motion process; when limit switch touches object, for instance stockpile, Ground Operation machinery etc., limit switch sends signal to the PLC being positioned at reclaimer; reclaimer is taked shutdown operation after receiving the signal that limit switch sends by PLC immediately.
Adopt technique scheme, it is possible to avoid dispenser and other objects to collide further, it is ensured that the safety of operation.
Fig. 3 is the structure chart of the system of reclaimer anticollision according to an embodiment of the invention, as it is shown on figure 3, system includes control equipment 100 and is positioned at the programmable logic controller (PLC) 200 of reclaimer. It is communicatively coupled by wirelessly or non-wirelessly mode between control equipment 100 and programmable logic controller (PLC) 200.
Programmable logic controller (PLC) 200 can be used for gathering the movable information of each reclaimer, and movable information is sent to control equipment 100.
Control equipment 100 comprises the steps that receiver module 110, for receiving the movable information of each reclaimer of collection; Computing module 120, calculates the coordinate of predeterminated position in reclaimer for the movable information according to each reclaimer, calculates the spacing between the predeterminated position of reclaimer according to the coordinate of predeterminated position in each reclaimer; And anticollision module 130, whether the spacing being used for judging between the predeterminated position of each reclaimer exceedes preset pitch threshold value, when the spacing between the predeterminated position of reclaimer exceedes preset pitch threshold value, takes corresponding anticollision operation.
In one embodiment, described predeterminated position includes suspending arm rotary center and the bucket wheel front end of reclaimer; Described movable information includes the distance travelled of reclaimer and direction, the gyratory directions of reclaimer and angle, and the pitch orientation of the cantilever of reclaimer and angle; Computing module 120 is for the coordinate according to the distance travelled of reclaimer He the suspending arm rotary center of direction calculating reclaimer; The coordinate at suspending arm rotary center according to reclaimer, the gyratory directions of reclaimer and angle, and the coordinate of the bucket wheel front end of the pitch orientation of the cantilever of reclaimer and angle calculation reclaimer.
In one embodiment, computing module 120 is additionally operable to the movable information according to reclaimer and determines the scanning space of the scanner being positioned at reclaimer cantilever in three-dimensional system of coordinate; Receiver module 110 is additionally operable to receive the scanning information of scanner; Anticollision module 130 is additionally operable to the scanning information according to scanner and judges whether the protective zone being arranged in scanning space has object, when having object in protective zone, takes corresponding anticollision operation.
In one embodiment, programmable logic controller (PLC) 200 is additionally operable to electric current in the bucket wheel of monitoring reclaimer, when instantaneous bucket wheel electric current exceedes predetermined current threshold, controls reclaimer and carries out back operation.
In one embodiment, programmable logic controller (PLC) 200 is additionally operable to the signal that the limit switch receiving the cantilever being positioned at reclaimer sends when touching object, and upon receipt of the signals reclaimer is taked shutdown operation.
Detailed description in said system refer to exemplary illustration in method, does not repeat them here.
Adopt technique scheme it can be avoided that bulk cargo stock yard collides between reclaimer; Avoid bulk cargo stock yard collides between reclaimer and object; Dispenser and other objects are avoided to collide, it is ensured that the safety of operation.
The preferred embodiment of the present invention is described in detail above in association with accompanying drawing; but; the present invention is not limited to the detail in above-mentioned embodiment; in the technology concept of the present invention; technical scheme can being carried out multiple simple variant, these simple variant belong to protection scope of the present invention.
It is further to note that, each concrete technical characteristic described in above-mentioned detailed description of the invention, in reconcilable situation, it is possible to be combined by any suitable mode, in order to avoid unnecessary repetition, various possible compound modes are no longer illustrated by the present invention separately.
Additionally, can also carry out combination in any between the various different embodiment of the present invention, as long as it is without prejudice to the thought of the present invention, it should be considered as content disclosed in this invention equally.
Claims (10)
1. a method for reclaimer anticollision, the method includes:
Receive the movable information of each reclaimer gathered;
Movable information according to each reclaimer calculates the coordinate of predeterminated position in reclaimer, calculates the spacing between the predeterminated position of reclaimer according to the coordinate of predeterminated position in each reclaimer;
Judge whether the spacing between the predeterminated position of each reclaimer exceedes preset pitch threshold value, when the spacing between the predeterminated position of reclaimer exceedes preset pitch threshold value, take corresponding anticollision operation.
2. method according to claim 1, it is characterised in that described predeterminated position includes suspending arm rotary center and the bucket wheel front end of reclaimer;
Described movable information includes the distance travelled of reclaimer and direction, the gyratory directions of reclaimer and angle, and the pitch orientation of the cantilever of reclaimer and angle;
The described movable information according to each reclaimer calculates the coordinate of predeterminated position in reclaimer and includes:
Coordinate according to the distance travelled of reclaimer He the suspending arm rotary center of direction calculating reclaimer;
The coordinate at suspending arm rotary center according to reclaimer, the gyratory directions of reclaimer and angle, and the coordinate of the bucket wheel front end of the pitch orientation of the cantilever of reclaimer and angle calculation reclaimer.
3. method according to claim 1 and 2, it is characterised in that described method also includes:
Movable information according to reclaimer determines the scanning space of the scanner being positioned at reclaimer cantilever in three-dimensional system of coordinate;
Receive the scanning information of scanner;
Scanning information according to scanner judges whether the protective zone being arranged in scanning space has object, when having object in protective zone, takes corresponding anticollision operation.
4. method according to claim 1 and 2, it is characterised in that described method also includes:
Electric current in the bucket wheel of monitoring reclaimer, when instantaneous bucket wheel electric current exceedes predetermined current threshold, controls reclaimer and carries out back operation.
5. method according to claim 1 and 2, it is characterised in that described method also includes:
Receive the signal that the limit switch of the cantilever being positioned at reclaimer sends when touching object, and upon receipt of the signals reclaimer is taked shutdown operation.
6. a system for reclaimer anticollision, this system includes control equipment and is positioned at the programmable logic controller (PLC) of reclaimer,
Described movable information, for gathering the movable information of each reclaimer, is sent to described control equipment by described programmable logic controller (PLC),
Described control equipment includes:
Receiver module, for receiving the movable information of each reclaimer of collection;
Computing module, calculates the coordinate of predeterminated position in reclaimer for the movable information according to each reclaimer, calculates the spacing between the predeterminated position of reclaimer according to the coordinate of predeterminated position in each reclaimer;
Anticollision module, whether the spacing being used for judging between the predeterminated position of each reclaimer exceedes preset pitch threshold value, when the spacing between the predeterminated position of reclaimer exceedes preset pitch threshold value, takes corresponding anticollision operation.
7. system according to claim 6, it is characterised in that described predeterminated position includes suspending arm rotary center and the bucket wheel front end of reclaimer;
Described movable information includes the distance travelled of reclaimer and direction, the gyratory directions of reclaimer and angle, and the pitch orientation of the cantilever of reclaimer and angle;
Described computing module is for the coordinate according to the distance travelled of reclaimer He the suspending arm rotary center of direction calculating reclaimer; The coordinate at suspending arm rotary center according to reclaimer, the gyratory directions of reclaimer and angle, and the coordinate of the bucket wheel front end of the pitch orientation of the cantilever of reclaimer and angle calculation reclaimer.
8. the system according to claim 6 or 7, it is characterised in that described computing module is additionally operable to the movable information according to reclaimer and determines the scanning space of the scanner being positioned at reclaimer cantilever in three-dimensional system of coordinate;
Described receiver module is additionally operable to receive the scanning information of scanner;
Described anticollision module is additionally operable to the scanning information according to scanner and judges whether the protective zone being arranged in scanning space has object, when having object in protective zone, takes corresponding anticollision operation.
9. the system according to claim 6 or 7, it is characterised in that described programmable logic controller (PLC) is additionally operable to electric current in the bucket wheel of monitoring reclaimer, when instantaneous bucket wheel electric current exceedes predetermined current threshold, controls reclaimer and carries out back operation.
10. the system according to claim 6 or 7; it is characterized in that; described programmable logic controller (PLC) is additionally operable to the signal that the limit switch receiving the cantilever being positioned at reclaimer sends when touching object, and upon receipt of the signals reclaimer is taked shutdown operation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201511006049.9A CN105668258A (en) | 2015-12-29 | 2015-12-29 | Anti-collision method and system for material taking machines |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201511006049.9A CN105668258A (en) | 2015-12-29 | 2015-12-29 | Anti-collision method and system for material taking machines |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105668258A true CN105668258A (en) | 2016-06-15 |
Family
ID=56297825
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201511006049.9A Pending CN105668258A (en) | 2015-12-29 | 2015-12-29 | Anti-collision method and system for material taking machines |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105668258A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108381572A (en) * | 2017-01-16 | 2018-08-10 | 浙江国自机器人技术有限公司 | The robot prong component of device and corresponding means of defence are knocked over anticollision |
| CN110221574A (en) * | 2019-06-10 | 2019-09-10 | 中国神华能源股份有限公司 | The method and system of single machine anticollision |
| CN113291853A (en) * | 2020-08-07 | 2021-08-24 | 湖南长天自控工程有限公司 | Anti-collision method and device for reclaimer |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS57107397A (en) * | 1980-12-22 | 1982-07-03 | Kawasaki Steel Co | Preventive device for collision between yard machine |
| US20040055986A1 (en) * | 2001-01-17 | 2004-03-25 | Lamb Peter John | Anti-collision protection system |
| CN102033237A (en) * | 2010-12-16 | 2011-04-27 | 中国神华能源股份有限公司 | Method and system for predicating collision possibility as well as anti-collision control method and system |
| CN103738739A (en) * | 2014-01-08 | 2014-04-23 | 中国神华能源股份有限公司 | Method and system for preventing stackers or reclaimers from colliding each other |
| CN103929714A (en) * | 2014-03-06 | 2014-07-16 | 秦皇岛燕大滨沅科技发展有限公司 | Anti-collision device for large-scale mobile devices within area range |
| CN104386504A (en) * | 2014-11-06 | 2015-03-04 | 泰富国际工程有限公司 | Anti-collision control method of cantilever material piling and taking machine |
| CN104555338A (en) * | 2015-01-07 | 2015-04-29 | 泰富重工制造有限公司 | Stock ground stacker-reclaimer collision avoidance control method and system thereof |
| CN204751517U (en) * | 2015-06-26 | 2015-11-11 | 中交机电工程局有限公司 | Harbour store yard unit location and collision avoidance system |
-
2015
- 2015-12-29 CN CN201511006049.9A patent/CN105668258A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS57107397A (en) * | 1980-12-22 | 1982-07-03 | Kawasaki Steel Co | Preventive device for collision between yard machine |
| US20040055986A1 (en) * | 2001-01-17 | 2004-03-25 | Lamb Peter John | Anti-collision protection system |
| CN102033237A (en) * | 2010-12-16 | 2011-04-27 | 中国神华能源股份有限公司 | Method and system for predicating collision possibility as well as anti-collision control method and system |
| CN103738739A (en) * | 2014-01-08 | 2014-04-23 | 中国神华能源股份有限公司 | Method and system for preventing stackers or reclaimers from colliding each other |
| CN103929714A (en) * | 2014-03-06 | 2014-07-16 | 秦皇岛燕大滨沅科技发展有限公司 | Anti-collision device for large-scale mobile devices within area range |
| CN104386504A (en) * | 2014-11-06 | 2015-03-04 | 泰富国际工程有限公司 | Anti-collision control method of cantilever material piling and taking machine |
| CN104555338A (en) * | 2015-01-07 | 2015-04-29 | 泰富重工制造有限公司 | Stock ground stacker-reclaimer collision avoidance control method and system thereof |
| CN204751517U (en) * | 2015-06-26 | 2015-11-11 | 中交机电工程局有限公司 | Harbour store yard unit location and collision avoidance system |
Non-Patent Citations (1)
| Title |
|---|
| 顾奕华等: "散料场堆取料机防碰撞控制", 《冶金自动化》 * |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108381572A (en) * | 2017-01-16 | 2018-08-10 | 浙江国自机器人技术有限公司 | The robot prong component of device and corresponding means of defence are knocked over anticollision |
| CN110221574A (en) * | 2019-06-10 | 2019-09-10 | 中国神华能源股份有限公司 | The method and system of single machine anticollision |
| CN113291853A (en) * | 2020-08-07 | 2021-08-24 | 湖南长天自控工程有限公司 | Anti-collision method and device for reclaimer |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103879741B (en) | Laser anti-collision early warning system used for bulk cargo stockyard | |
| KR101216871B1 (en) | System for preventing collision of crane and method for controlling a crane | |
| CN109650089B (en) | Anti-collision method for material piling and taking machine and material pile of storage yard | |
| CN111634636B (en) | Full-automatic material taking control system of bucket wheel machine | |
| CN105668258A (en) | Anti-collision method and system for material taking machines | |
| CN103964155B (en) | A kind of bucket-wheel stacker reclaimer anticollision control method | |
| CN105712055A (en) | Stacker-reclaimer position detection and anti-collision system based on GNSS | |
| CN112141734A (en) | Material taking control system and material taking method for scraper reclaimer | |
| CN102772874B (en) | Fire monitor intelligent control system | |
| CN104155911A (en) | Belt conveyor safety monitoring device | |
| CN102642721A (en) | Reclaiming control method of bucket-wheel reclaimer and bucket-wheel reclaimer | |
| CN104787594A (en) | Automatic stacking control system of bulk cargo wharf stacker | |
| CN104555338A (en) | Stock ground stacker-reclaimer collision avoidance control method and system thereof | |
| CN104386504A (en) | Anti-collision control method of cantilever material piling and taking machine | |
| CN114721323A (en) | Safety anti-collision system, method, terminal and storage medium for stacker-reclaimer | |
| CN104759608B (en) | A kind of steel billet pile base operation control system and method | |
| CN102336366A (en) | Monitoring method for anticollision of quayside container crane sling | |
| CN114314346A (en) | Driving control method and system based on coal storage management | |
| CN107381092B (en) | A kind of bar shaped stock ground stacker and reclaimer anti-collision control system and method | |
| CN201881387U (en) | Industrial robot collision protection device | |
| CN104609207A (en) | Anti-collision control method for stock yard stacker-reclaimers | |
| CN116986486A (en) | Semi-automatic system of gantry crane | |
| CN215679137U (en) | Bucket wheel machine windrow keeps away barrier system | |
| CN217767258U (en) | Coke oven vehicle environment perception system | |
| CN204400050U (en) | A kind of stacker-reclaimer GNSS exact location is detected and Intelligent collision avoidance system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20160615 |