CN105712055A - Stacker-reclaimer position detection and anti-collision system based on GNSS - Google Patents
Stacker-reclaimer position detection and anti-collision system based on GNSS Download PDFInfo
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- CN105712055A CN105712055A CN201410726782.7A CN201410726782A CN105712055A CN 105712055 A CN105712055 A CN 105712055A CN 201410726782 A CN201410726782 A CN 201410726782A CN 105712055 A CN105712055 A CN 105712055A
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Abstract
After a stacker-reclaimer position detection and anti-collision system based on a GNSS is used, data collection and a space geometric algorithm are carried out, then the calculation result is transmitted to a PLC, calculation and alarming for large machine accurate position detection and anti-collision control are carried out, the rotation angle and pitching angle of a cantilever can also be detected, and the effect is obvious. The problem that other displacement sensors can not detect the large machine position accurately is solved, the number of sensors for detecting the rotation angle and pitching angle of the cantilever is reduced, the error intermediate conversion of data detection is eliminated, and the data accuracy is improved. Meanwhile, the calculation process is simple and direct. Simultaneous operation of multiple stacker-reclaimers on the same site can be realized, the minimum distance between multiple cantilevers is detected in real time, collision is prevented, and safety and operation efficiency are improved. The stacker-reclaimer position detection and anti-collision system based on the GNSS can be applied to various types of stacker-reclaimers, improves the same-site operation efficiency to about 80% and can realize unmanned operation.
Description
Technical field
The present invention relates to space orientation technique field, particularly relate to a kind of stacker-reclaimer position based on GNSS and detect and collision avoidance system.
Background technology
Along with the fast development of water-borne transport industry, Modern Port scale and handling capacity constantly increase, and the various handling facilities quantity in harbour is continuously increased, and how high efficient and reliable uses these handling facilities to be each harbour unit concern.Bucket-wheel stacker reclaimer main in ports handling machine, also known as cantilevered stacker-reclaimer, is the nucleus equipment of bulk storage yard operation.It is the machinery of heap feeding unification, is namely a kind of efficient mechanical taking and storing up the bulk materials such as coal, Ore, sandstone.It is applicable not only to power plant, and also very applicable at harbour, harbour, and most transhipment coal and the harbour of bulk material, harbour all adopt bucket-wheel stacker reclaimer.The employing of bucket-wheel stacker reclaimer, substantially reduces heap and takes the time, improve work efficiency, alleviate labor strength.
What the detection of current stacker-reclaimer position adopted mostly is human eye location, photoelectric encoder device (optical code disk), laser displacement sensor, walking limit switch, RFID mode.Photoelectric encoder device, package unit is arranged in the metal shell that drive motor is anterior, plate-like gear engage with positioning car tooth bar, by drive shaft encoder.The circumference of plate-like gear is identical with the circumference of positioning car driving pinion.Encoder is driven by reductor, shaft coupling from bottom to top by travelling gear, it is achieved the position detection of positioning car.All there is certain defect in the mode of these several detection positions, concrete manifestation is as follows:
Human eye location is limited by ocular health and the mental status, and environmental effect is relatively larger, and the activity duration is long；
Photoelectric encoder device will form cumulative errors in wheel-slip, the Mechanical Contact working method of relative localization；
Laser displacement sensor can be ineffective at unholiness environment, track sedimentation causes that travelled by vehicle shake can make reflector target position be forbidden, also can cause that position detection is inaccurate, walking limit switch is owing to being point location, be there is blind area in the detection of seriality position, RFID mode is wireless points location, there is skip phenomenon, time delay is bigger, therefore these several sensors majority when detecting position is mechanical type, sensitivity is low, life-span is short, fault rate is high, reliability is low, operate cumbersome, and there is rolling link (i.e. dead band), semi-automatic operation is caused to be difficult to reliable and stable operation.Due to the equipment that stacker-reclaimer is bigger, its inertia is bigger, also it is rigid when starting and stop, so very big shock and vibrations can be produced in the course of the work, noise pollution is serious, having a strong impact on its safety and the life-span about parts, it is easy to damage equipment, thus equipment Accurate Position Control is particularly important.
For improving the efficiency and safety problem loading and unloading equal equalization; should ensure that stacker-reclaimer possesses to seek heap and recognize location, location; automatically determine each layered material heap starting point, terminal and position is followed the tracks of, terminal is remembered, center, cable protection, complete machine are piled feeding by stream automatically, thus realizing smooth and efficient heap feeding automatic job.Operation process can be monitored by Central Control Room simultaneously.It is therefore necessary to the big seat in the plane of stacker-reclaimer is put carry out following the tracks of continuously, cantilever three-dimensional position detects in real time, solves the difficult problem of space anticollision in heap material extracting operation process.
Summary of the invention
The invention provides the detection of the GNSS location of a kind of stacker-reclaimer and Intelligent collision avoidance system, it is ensured that multiple stage stacker-reclaimer can be accurately positioned when same field operation, it is prevented that crashes.
This invention address that the technical scheme of the problems referred to above is: a kind of stacker-reclaimer position based on GNSS is detected and collision avoidance system, including Precise Position System, space anticollision pre-alarming control system, data transmission system.
The Precise Position System of the present invention adopts GNSS differential position, including base station system and mobile station system.Base station, as positioning signal reception and dispatching station, is based upon base fixed, disturbs depletion region near few stock ground.Rover station arranges two on a stacker-reclaimer, is separately mounted in the middle part of the big machine centre of gyration and cantilever or head center point place.Base station and rover station are mounted on signal receiver.Described rover station is provided with data processor.
The space anticollision pre-alarming control system of the present invention includes Vehicle Controller, vehicle-carrying display screen, vehicle-mounted audible-visual annunciator and ground controller, ground display screen and ground audible-visual annunciator, described Vehicle Controller, vehicle-carrying display screen and vehicle-mounted audible-visual annunciator are installed indoor with driver operation, and described ground controller, ground display screen and ground audible-visual annunciator are installed on ground monitoring indoor.
The data transmission of the present invention can adopt GPRS, radio set, wifi, fiber-optic transfer.Preferably, the data transmission at port of the present invention adopts GPRS technology.
In the present invention, ground controller input connects the data processor of rover station, and outfan connects ground display screen, ground audible-visual annunciator and Vehicle Controller；The output of described Vehicle Controller connects ground controller, vehicle-mounted audible-visual annunciator and vehicle-carrying display screen.
In the present invention, for preventing the thunder and lightning interference to whole system, described base station, stacker-reclaimer and ground monitoring room are mounted on lightning-protection module.
The beneficial effects of the present invention is:
After using native system, carry out data acquisition and space geometry algorithm, then result of calculation is passed to PLC, carry out calculating and the warning of the detection of big machine exact position and anticollision control, it is also possible to detection cantilever-rotating angle and luffing angle, effect is notable.Not only solve the big seat in the plane of other displacement transducer detection and put inaccurate problem, and save the sensor detecting cantilever-rotating angle and luffing angle, eliminate the error of Data Detection intermediate conversion, improve accurate data degree.Simultaneously, calculating process is simple, directly perceived, multiple stage stacker-reclaimer can be realized with field operation simultaneously, detect the minimum range between each cantilever in real time, prevent collision, improve safety and working performance, it is possible to for polytype stacker-reclaimer, improve and reach about 80% with field working performance, it may be achieved be unattended.
Concrete effect is as follows:
1, line position walked by stacker-reclaimer, loading position is accurately detected；
2, the automatic traveling of stacker-reclaimer can be realized, automatically pile feeding；
3, position interlocking is realized, it is possible to prevent two ends from sliding down or collision accident；
4 and stacker-reclaimer belt lace interlocked control, it is prevented that batch mixing, wrong material, putty accident；
5, squamous accumulation can be carried out and mix operation in advance, to improve the uniformity of material composition, to reduce particle segregation；
6, stacker-reclaimer remote monitoring function is realized；
7, in conjunction with belt conveyer scale data to stockyard volume of cargo in storage digital management；
8, strict control windrow shape and feeding rule, it is possible to be greatly improved the memory capacity in stock ground, improve the utilization rate in stock ground;
9, become starting point determine terminal technique and stockpile cross section can be piled rectangularity, reduce the generation of end material and waste, the workload that also minimizing forklift is marched into the arena simultaneously；
10, lightning-protection module is preset, it is ensured that it is accurate that the operation safety of system and data are transmitted.
Accompanying drawing explanation
Fig. 1 is the system flow chart of a kind of embodiment of the present invention.
Fig. 2 is the field operation simulation drawing of a kind of embodiment of the present invention.
Detailed description of the invention
Embodiments of the invention are described in detail below in conjunction with accompanying drawing.But protection scope of the present invention is not limited to the present embodiment.
The invention provides the detection of the GNSS exact position of a kind of stacker-reclaimer and Intelligent collision avoidance system, this system overcomes existing location technology because sensitivity is low, the life-span is short, fault rate is high, reliability is low, operate location data inaccuracy that is cumbersome and that there is rolling link and cause and the problem that multiple stage stacker-reclaimer collides because of the operation of same field.
The technical scheme solving prior art problem is: include Precise Position System, space anticollision pre-alarming control system, data transmission system.
Precise Position System adopts GNSS differential position, including base station system and mobile station system.Base station 1, as positioning signal reception and dispatching station, is based upon base fixed, disturbs depletion region near few stock ground.Rover station 2 arranges two on a stacker-reclaimer, is separately mounted in the middle part of the big machine centre of gyration and cantilever or head center point place.Base station 1 and rover station 2 are mounted on signal receiver, rover station is provided with data processor.
The space anticollision pre-alarming control system of the present invention includes being arranged on the Vehicle Controller 3 of driver operation room, vehicle-mounted audible-visual annunciator 4, vehicle-carrying display screen 5 and being arranged on the ground controller 6 of ground monitoring room, ground audible-visual annunciator 7 and ground display screen 8.
For preventing the thunder and lightning interference to whole system, described base station, stacker-reclaimer and ground monitoring room are mounted on lightning-protection module.
Exact position detection in the present invention adopts GNSS technology, and the depletion region near stock ground, ground builds GNSS base station 1, is respectively mounted rover station 2 with head center point place on stacker-reclaimer in the middle part of the big machine centre of gyration and cantilever.The hi-Fix differential data self obtained is sent to the data processor of rover station 2 by GNSS base station 1 by data transmission system (GPRS data transmission, radio station data transmission, wifi, fiber-optic transfer), rover station self gathers GNSS while receiving base station data and observes data, and difference observation is formed in inside, carry out difference resolving, calculate two respective space coordinatess of rover station of this stacker-reclaimer and luffing angle, finally give Centimeter Level location data.
Rover station will be accurately positioned data and send ground controller 6 to.The precise position data obtained is carried out data process by ground controller 6, calculate the big machine centre of gyration of stacker-reclaimer and the exact position of cantilevered head place axis, and compare between two with the exact position of the adjacent big machine centre of gyration of stacker-reclaimer and cantilevered head place axis, calculate the maximum angle of the minimum range between them, jib pitching and rotation.Once the minimum range between adjacent stacker-reclaimer less than safe distance or rotation, luffing angle beyond security standpoint; ground controller 6 sends anti-collision warning instruction to Vehicle Controller 3; Vehicle Controller 3 sends alarm command to vehicle-carrying display screen 5 and audible-visual annunciator 4 after receiving instruction, and prompting driver carries out slowing down or shutdown operation.
Minimum range between any two stacker-reclaimers can adopt following methods: when the cantilever of two stacker-reclaimers is coplanar, minimum range is: the cantilevered head center of No. 1 stacker-reclaimer, to No. 2 big machine centres of gyration and cantilevered head center, the vertical dimension of the line segment constituted, or the minimum range between the cantilevered head center of two stacker-reclaimers；When the cantilever antarafacial of two stacker-reclaimers, minimum range is: the line segment that the big machine centre of gyration of l stacker-reclaimer and the cantilevered head center of stacker-reclaimer are constituted, cantilevered head center with the big machine centre of gyration of No. 2 stacker-reclaimers and stacker-reclaimer, the distance of the common vertical line section of the line segment constituted, or the minimum range between the cantilevered head center of two stacker-reclaimers.
Gathered the coordinate of No. 1, No. 2 big 4 points of machine rover station by GNSS technology, D coordinates value is distinguished as A (x1, y1, z1), B (x2, y2, z2), C (x3, y3, z3), D (x4, y4, z4), it is determined that straightway AB and CD.According to space multistory geometry, the relation of two straight-line segment has two kinds of situations, coplanar and antarafacial.What is called is coplanar refers to that two straight lines are in a plane, and antarafacial then refers to that two straight lines are not in a plane, determine the minimum range between No. 1 and No. 2 stacker-reclaimers in both cases.
Article two, two kinds of situations of the coplanar existence of straight line, one is two straight line parallels, and another kind is two straight line intersection.Article two, the situation of straight line parallel refers to the state when cantilever of 2 stacker-reclaimers is parallel in space coordinates；Article two, straight line intersection then can not occur in practice, because cantilever is entity, it is impossible to situation about intersecting occurs.Due to the limited length of cantilever, so when coplanar, except parallel, another kind of state is then not parallel, has crossing trend.In both cases, occur that the possible case that the cantilever of 2 stacker-reclaimers collides has three kinds: the 1. head of the cantilever of the first stacker-reclaimer, encounter the head of the cantilever of the second stacker-reclaimer.2. the head of the cantilever of the first stacker-reclaimer, encounters the sidepiece up and down of the cantilever of the second stacker-reclaimer.3. the head of the cantilever of the second stacker-reclaimer, encounters the sidepiece up and down of the cantilever of the first stacker-reclaimer.When coplanar, it is impossible to occur that the sidepiece of two cantilevers is collided.
In coplanar situation, obtain the head center of a cantilever, to another big machine centre of gyration and cantilevered head center, the vertical dimension of the line segment constituted.When each cantilevered head center, to the big machine centre of gyration and the cantilevered head center of another 1 stacker-reclaimer, when the line segment constituted is all without vertical line, can directly obtain the minimum range between two cantilevered head centers.
In antarafacial situation, seek the minimum range of two cantilevers, it is possible to adopt the way calculating common vertical line between two straight lines to realize.But, due to the limited length of two cantilevers, it is possible to be absent from common vertical line, at this moment then needing two big machine centres of gyration and cantilevered head center, the line segment constituted is extended for two straight lines, obtains the common vertical line of straight line and intersection point p1, p2 of two cantilevers.1. check that intersection point pl is either with or without on the cantilever of the first stacker-reclaimer.If, then selected p1 is first point；If do not existed, select the some A of cantilevered head of the first stacker-reclaimer as the first point.2. check that p2 point is either with or without on the cantilever of the second stacker-reclaimer, if in like manner existed, then as second point；If it was not then choose the some C of the cantilevered head of the second stacker-reclaimer as second point.Minimum range after two point selection, between calculating at 2.
The lowest distance value calculating gained is compared by controller with system the first preset distance and the second preset distance.When minimum range is less than the first preset distance, it is judged that collision probability is higher；When minimum range less than the first preset distance more than the second preset distance time, it is judged that collision probability be medium；When minimum range is more than the second preset distance, it is judged that collision probability is relatively low.Judge that probability is as, time higher, carrying out collision warning by display screen and audible-visual annunciator, makes operating personnel learn and is about between stacker-reclaimer collide, it is possible to carry out shutdown etc. and process；When judging that probability is medium, carry out slowing down and report to the police so that operating personnel learns and collides possibly between stacker-reclaimer, it is necessary to slow down the stacker-reclaimer speed of service；When judging that probability is relatively low, not reporting to the police, stacker-reclaimer can carry out operation safely.Wherein, the first preset distance is less than the second preset distance, and can preset as required.In the application, the first preset distance is set as 3m, and the second preset distance sets 8m.
For Appropriate application stockyard, a usual stockyard there will be the situation of multiple stage stacker-reclaimer operation, now work for 3 stacker-reclaimers simultaneously, carry out the analysis that multiple stage heap feeding anticollision controls.If 3 stacker-reclaimers respectively No. 1, No. 2, No. 3, then as No. 1 stacker-reclaimer, need the minimum range simultaneously calculating between No. 2 stacker-reclaimers, No. 3 stacker-reclaimers, namely No. 1 and No. 2 the minimum range of coplanar and antarafacial, the minimum range of coplanar and antarafacial of No. 1 and No. 3, then compare with the first and second preset distances of No. 2 stacker-reclaimers, No. 3 stacker-reclaimers respectively, report to the police accordingly according to contrast situation.In like manner, as No. 2 stacker-reclaimers and No. 3 stacker-reclaimers, adopting same method to be calculated contrast, the anticollision that thus can realize multiple stage stacker-reclaimer controls.
Claims (7)
1. the stacker-reclaimer position based on GNSS is detected and collision avoidance system, it is characterised in that: described system includes Precise Position System, space anticollision pre-alarming control system, data transmission system (GPRS data transmission, radio station data transmission, wifi, fiber-optic transfer).
2. a kind of stacker-reclaimer position based on GNSS according to claim 1 is detected and collision avoidance system, it is characterised in that: described Precise Position System adopts GNSS differential position, including base station system and mobile station system.
3. a kind of stacker-reclaimer position based on GNSS according to claim 2 is detected and collision avoidance system, it is characterised in that: described base station is based upon the depletion region near stock ground；Described rover station arranges two on a stacker-reclaimer, is separately mounted in the middle part of the big machine centre of gyration and cantilever or head center point place.
4. a kind of stacker-reclaimer position based on GNSS according to claim 2 is detected and collision avoidance system, it is characterised in that: described base station and rover station are mounted on signal receiver；Described rover station is also equipped with data processor.
5. a kind of stacker-reclaimer position based on GNSS according to claim 1 is detected and collision avoidance system, it is characterised in that: described space anticollision pre-alarming control system includes Vehicle Controller, vehicle-carrying display screen, vehicle-mounted audible-visual annunciator and ground controller, ground display screen and ground audible-visual annunciator；Described Vehicle Controller, vehicle-carrying display screen and vehicle-mounted audible-visual annunciator are installed on driver operation indoor；Described ground controller, ground display screen and ground audible-visual annunciator are installed on ground monitoring indoor.
6. a kind of stacker-reclaimer position based on GNSS according to claim 1 is detected and collision avoidance system, it is characterized in that: described ground controller input connects the data processor of rover station, outfan connects ground display screen, ground audible-visual annunciator and Vehicle Controller；The output of described Vehicle Controller connects ground controller, vehicle-mounted audible-visual annunciator and vehicle-carrying display screen.
7. a kind of stacker-reclaimer position based on GNSS according to claim 1 is detected and collision avoidance system, it is characterised in that: described base station, stacker-reclaimer and ground monitoring room are mounted on lightning-protection module.
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Cited By (8)
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| CN108082954A (en) * | 2017-12-13 | 2018-05-29 | 泰富重工制造有限公司 | A kind of windrow method |
| CN108182715A (en) * | 2017-12-13 | 2018-06-19 | 泰富智能科技有限公司 | A kind of material stacking and fetching system with statistics rickyard material information |
| CN111132916A (en) * | 2017-11-09 | 2020-05-08 | 川崎重工业株式会社 | Conveyance apparatus and conveyance apparatus control method |
| CN111326861A (en) * | 2020-02-11 | 2020-06-23 | 北京德百利泰科技有限公司 | Directional antenna alignment system and method for wireless communication system of stacker-reclaimer |
| CN112327737A (en) * | 2020-09-27 | 2021-02-05 | 甘肃酒钢集团宏兴钢铁股份有限公司 | Safety monitoring system and method for safety control of stacker-reclaimer |
| CN112537661A (en) * | 2020-12-25 | 2021-03-23 | 大连华锐重工集团股份有限公司 | Anti-collision control method and system for stacker-reclaimer |
| CN112645075A (en) * | 2020-12-29 | 2021-04-13 | 湛江中粤能源有限公司 | Safety protection system of common rail bucket wheel machine |
| CN114620500A (en) * | 2022-03-19 | 2022-06-14 | 华能上海石洞口发电有限责任公司 | Moving device of bucket-wheel stacker reclaimer and cross-field automatic return method thereof |
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- 2014-12-04 CN CN201410726782.7A patent/CN105712055A/en active Pending
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111132916A (en) * | 2017-11-09 | 2020-05-08 | 川崎重工业株式会社 | Conveyance apparatus and conveyance apparatus control method |
| CN108082954A (en) * | 2017-12-13 | 2018-05-29 | 泰富重工制造有限公司 | A kind of windrow method |
| CN108182715A (en) * | 2017-12-13 | 2018-06-19 | 泰富智能科技有限公司 | A kind of material stacking and fetching system with statistics rickyard material information |
| CN108082954B (en) * | 2017-12-13 | 2022-04-19 | 泰富重工制造有限公司 | Material piling method |
| CN111326861A (en) * | 2020-02-11 | 2020-06-23 | 北京德百利泰科技有限公司 | Directional antenna alignment system and method for wireless communication system of stacker-reclaimer |
| CN111326861B (en) * | 2020-02-11 | 2021-03-09 | 北京德百利泰科技有限公司 | Directional antenna alignment system and method for wireless communication system of stacker-reclaimer |
| CN112327737A (en) * | 2020-09-27 | 2021-02-05 | 甘肃酒钢集团宏兴钢铁股份有限公司 | Safety monitoring system and method for safety control of stacker-reclaimer |
| CN112537661A (en) * | 2020-12-25 | 2021-03-23 | 大连华锐重工集团股份有限公司 | Anti-collision control method and system for stacker-reclaimer |
| CN112537661B (en) * | 2020-12-25 | 2023-11-14 | 大连华锐重工集团股份有限公司 | Anti-collision control method and system for stacker-reclaimer |
| CN112645075A (en) * | 2020-12-29 | 2021-04-13 | 湛江中粤能源有限公司 | Safety protection system of common rail bucket wheel machine |
| CN114620500A (en) * | 2022-03-19 | 2022-06-14 | 华能上海石洞口发电有限责任公司 | Moving device of bucket-wheel stacker reclaimer and cross-field automatic return method thereof |
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