CN110255384A - A kind of interior dock anti-collision system - Google Patents
A kind of interior dock anti-collision system Download PDFInfo
- Publication number
- CN110255384A CN110255384A CN201910645022.6A CN201910645022A CN110255384A CN 110255384 A CN110255384 A CN 110255384A CN 201910645022 A CN201910645022 A CN 201910645022A CN 110255384 A CN110255384 A CN 110255384A
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- personnel
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- 238000001514 detection method Methods 0.000 claims abstract description 16
- 230000002265 prevention Effects 0.000 claims abstract description 14
- 238000000034 method Methods 0.000 claims description 11
- 238000004891 communication Methods 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000000295 complement effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 230000000994 depressogenic effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000009877 rendering Methods 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C1/00—Dry-docking of vessels or flying-boats
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C15/00—Safety gear
- B66C15/04—Safety gear for preventing collisions, e.g. between cranes or trolleys operating on the same track
- B66C15/045—Safety gear for preventing collisions, e.g. between cranes or trolleys operating on the same track electrical
Abstract
The present invention discloses a kind of indoor dock anti-collision system, it include: device location detection subsystem, equipment active Anti-bumping protection subsystem, device location management software subsystem, personnel positioning management subsystem, device location detects subsystem, for identification with control cargo, tool, the physical location of rigging, it avoids collision, device location management software subsystem, for the collision prevention function between equipment and equipment, it mainly avoids colliding between the loop wheel machine equipment of three-dimensional operation on same track or parallel orbit, personnel positioning management subsystem, for the collision prevention function between equipment running route and personnel, including equipment active anticollision and the offside prompting of personnel.The interior dock anti-collision system complete mature, can effectively prevent equipment, workpiece, the collision between shipbuilding body, have the features such as safe and reliable, display is apparent, easy to operate, efficient work.
Description
Technical field
The present invention relates to a kind of indoor dock anti-collision system.
Background technique
During shipbuilding, the working environment in dock is complicated, is easy to happen equipment, workpiece, between shipbuilding body
Collision.It can solve the occurrence of such there is no highly effective anticollision means before this.By artificial observation and intervention
Mode, not only low efficiency and spend working hour it is more, often occur because observation carelessness or information be not delivered to position due to collide
Accident brings direct economic loss to enterprise so as to cause project progress because equipment damage is obstructed.
Summary of the invention
To solve the above-mentioned problems, the invention discloses a kind of indoor dock anti-collision system.
The technical solution of the present invention is as follows: a kind of interior dock anti-collision system, comprising: device location detects subsystem, equipment
Active Anti-bumping protection subsystem, device location management software subsystem, personnel positioning management subsystem,
Device location detects subsystem, for identification with the physical location of control cargo, tool, rigging, avoids collision, equipment position
Setting detection subsystem includes big car position checkout gear, upper and lower car positioning, the position detecting device of lifting mechanism and rotation
Rotation positioning device；
Equipment active Anti-bumping protection subsystem scans to detect the fringe region and overhead height that hang article carrying piece using 3D, to sentence
The distance between disconnected relative position and the range for hanging loads, finds the object for around highly having coincidence, check, it realizes actively anti-
Hit function；
Device location management software subsystem mainly avoids same track or parallel for the collision prevention function between equipment and equipment
It is collided between the loop wheel machine equipment of three-dimensional operation on track；
Personnel positioning management subsystem, for the collision prevention function between equipment running route and personnel, including equipment active anticollision
It is more reminded with personnel；
Further, the top edge for hanging object carrier is found in 3D scanning, and according to the 3D model data saved in system, is calculated and hung
Height of the object carrier bottom surface apart from ground, acquisition hang article carrying piece in the complete situation in space, pass through the 3d space with software image
Posture compares, and prevention crane hangs loading and the collision on ground.
Further, big car position checkout gear uses absolute value encoder mode, using RFID magnetic nail mode to absolute
Value coding is verified and is detected, upper and lower car positioning, is realized position detection using laser bar code band positioning method, is being moved
Dedicated read-write scanning laser is installed on dynamic position and completes position detection work, the position detecting device of lifting mechanism is using included
Absolute value encoder mode, rotary positioning apparatus selection using laser bar code band mode be accurately positioned.
Further, personnel positioning management subsystem is linked into software management platform, and can be remembered in corresponding terminal
The content for recording and showing the submodule carries out the positioning of mobile personnel using UWB super wideband wireless positioning method.
Further, device location management software subsystem is to detect subsystem and equipment active anticollision according to device location
The collected relative position data of protected subsystem, each mechanism positioning device data, operation data and direction, in advance judgement collision
Position, give warning in advance and sending ceased and desisted order.
Usefulness of the present invention: the interior dock anti-collision system complete mature can effectively prevent equipment, workpiece, make
Collision between hull has the features such as safe and reliable, display is apparent, easy to operate, efficient work.
Detailed description of the invention
Fig. 1 is schematic diagram of the invention.
Specific embodiment
In order to deepen the understanding of the present invention, it describes the specific embodiments of the present invention in detail with reference to the accompanying drawing, the reality
It applies example for explaining only the invention, does not restrict the protection scope of the present invention.
A kind of interior dock anti-collision system, comprising: device location detect subsystem, equipment active Anti-bumping protection subsystem,
Device location management software subsystem, personnel positioning management subsystem,
Device location detects subsystem, for identification with the physical location of control cargo, tool, rigging, avoids collision, equipment position
Setting detection subsystem includes big car position checkout gear, upper and lower car positioning, the position detecting device of lifting mechanism and rotation
Rotation positioning device, big car position checkout gear use absolute value encoder mode, using RFID magnetic nail mode to absolute encoder
It is verified and is detected, judge whether absolute value encoder detects accurately, the lesser crane of track cardinal distance only need to be in a siding track
It is installed on road, and crane biggish for span, then absolute value encoder and correction must be all installed on its both sides
RFID magnetic nail.
Upper and lower car positioning is realized position detection using laser bar code band positioning method, is installed on mobile position
Dedicated read-write scanning laser completes position detection work.
The position detecting device of lifting mechanism is using included absolute value encoder mode.Absolute value encoder has been mounted on
Reel end is risen, detects length of steel rope, and according to winding method conversion position height position.
Rotary positioning apparatus selection using laser bar code band mode carries out that laser bar code projection scanner sending one is accurately positioned
The linear laser continuously swung scans bar code, is changed according to the light and shade of inswept bar code, identifies bar code.Use laser bar code
Scanner is positioned, it is necessary to obtain laser according to the Context resolution of bar code using bar code that is dedicated, having standard number
Bar code scanner is currently relative to the position of bar code, to obtain current rotation position.
Equipment active Anti-bumping protection subsystem scans to detect the fringe region and overhead height that hang article carrying piece using 3D, from
The distance between and judge to hang relative position and the range of loads, the object for around highly having coincidence is found, check, realize master
Dynamic collision prevention function, the top edge for hanging object carrier is found in 3D scanning, and according to the 3D model data saved in system, is calculated and hung load
Height of the object bottom surface apart from ground, acquisition hang article carrying piece in the complete situation in space, pass through the 3d space appearance with software image
State compares, and prevention crane hangs loading and the collision on ground, in order to ensure accuracy, installs on the ceiling of dock indoors
Several 3D scanners, for the modeling imaging to object, finally formed 3D rendering carries out multi-angle observation for user.
The most crucial technology of 3D scanning technique is TOF(flight time telemetry), by continuously transmitting light pulse to target,
Then receive the light that returns from object with sensor, obtained by flight (round-trip) time of detecting optical pulses object away from
From.The high-acruracy survey in space is formed by using two orthogonal high-precision servo motors.Then by the number of measurement
According to switching in a common coordinate system, to complete the scanning result fitting in a wide range of.Pass through more 3 D laser scannings
Instrument is complementary to one another fitting, or even can accomplish the scanning at no dead angle.
Device location management software subsystem, for the collision prevention function between equipment and equipment, mainly avoid same track or
It is collided between the loop wheel machine equipment of three-dimensional operation on parallel orbit, the safety zone between two cranes is monitored and delimit, by ship
The position of all arrangement knowns is brought into software management in depressed place, can effectively avoid mostly colliding.
The software subsystem need to obtain the profile information of crane, cart location information, upper and lower trolley location information, rise
The height and position of mechanism is risen, gantry crane also needs to obtain the location information of rotating mechanism.It can be appreciated that lifting by these information
Can the minimum altitude of the current handling situations of machine and current location pass through other equipment.System also needs to monitor the fortune of each mechanism
Line direction and speed, for predicting risk of collision in equipment running process.
Personnel positioning management subsystem, for the collision prevention function between equipment running route and personnel, including equipment is actively
Anticollision and personnel more remind, which can carry out monitoring position to the personnel for entering workshop, realize crane to dock workshop people
The judgement of member position.It realizes that automatic positioning cannot use the modes such as GPS, encoder, can only be realized by wireless communication mode.
Personnel positioning management subsystem is linked into software management platform, and can be recorded in corresponding terminal display system
And show the content of the submodule, the positioning of mobile personnel is carried out using UWB super wideband wireless positioning method.
The positioning embodiment of mobile personnel is carried out using UWB super wideband wireless positioning method.UWB(Ultra
It Wideband) is a kind of no-load communication techniques, it can be with dry label signal of the transmission number per second that is up to 30 centimetres of precision.It wants
Positioning is realized to mobile personnel in space, it is necessary to which installation can receive the label of radio wave with it, and in dock
The base station of the interior multiple transmitting radio waves of arrangement, it is ensured that synchronization label can receive the letter of no less than three locating base stations
Number.When label receives the ultra wide band radio signal of UWB, according to the time difference communicated between multiple base stations, it can be determined that away from
Position from each base station, to realize cross bearing function.The precision of this rank is to be not enough to for being accurately positioned
Guarantee, but the demand of anticollision in workshop can be met.
Device location management software subsystem is to detect subsystem and equipment active Anti-bumping protection subsystem according to device location
It unites collected relative position data, each mechanism positioning device data, operation data and direction, judges the position of collision in advance,
It gives warning in advance and sending is ceased and desisted order.
Working principle:
Device location detection mode is the key that realize one step of anticollision and main implementation between crane, as long as position
Correct judgment can be achieved with anticollision detection.
Device location management software is used to monitor the positional value of all cranes, detects any two by logical operation and sets
Whether can collide between standby, and equipment close to during, sending deceleration command, and driver is reminded to pay attention to.When gate seat rises
Heavy-duty machine needs to pass through that ship-building gantry is hung or when other construction equipments, software needs the arm support position according to gantry crane, gantry
Rise and position are sling to judge, and corresponding equipment must be connected to allowing to pass through instruction and can executing for platform.
3D scan data is uploaded to management software by equipment active collision-avoidance system, and relative position and the model of loads are hung in judgement
The distance between it encloses, finds the object that a certain range inner height has coincidence, check, realize active collision prevention function.Meanwhile it can basis
The 3D model data saved in system, calculates the height for hanging object carrier bottom surface apart from ground, and the effective crane that prevents hangs load
The collision of object and ground.
Personnel positioning detection mode also needs the position that UWB label is calculated by software, and position signal is uploaded
Into anti-collision system, to judge the position and direction of mobile personnel, and to gantry crane, the high pedestal jib crane for having risk of collision
Control is slowed down or parking.
All devices position detection value is all linked into PLC, uses a dedicated SIEMENS PLC to position detection, in this way
Effect be not carry out with the function of master control system mixed, the control failure of whole equipment is influenced when preventing failure.
Claims (5)
1. a kind of interior dock anti-collision system, which is characterized in that detect subsystem, equipment active Anti-bumping protection including device location
Subsystem, device location management software subsystem, personnel positioning management subsystem,
The device location detects subsystem, for identification with the physical location of control cargo, tool, rigging, avoids collision, institute
State the position detection that device location detection subsystem includes big car position checkout gear, upper and lower car positioning, lifting mechanism
Device and rotary positioning apparatus；
The equipment active Anti-bumping protection subsystem scans to detect the fringe region and overhead height that hang article carrying piece using 3D, from
The distance between and judge to hang relative position and the range of loads, the object for around highly having coincidence is found, check, realize master
Dynamic collision prevention function；
The device location management software subsystem, for the collision prevention function between equipment and equipment, mainly avoid same track or
It is collided between the loop wheel machine equipment of three-dimensional operation on parallel orbit；
The personnel positioning management subsystem, for the collision prevention function between equipment running route and personnel, including equipment is actively
Anticollision and the offside prompting of personnel.
2. a kind of indoor dock anti-collision system according to claim 1, it is characterised in that: the 3D scanning, which is found, hangs loading
The top edge of body, and according to the 3D model data saved in system, the height for hanging object carrier bottom surface apart from ground is calculated, is obtained
Article carrying piece is hung in the complete situation in space, is compared by the 3d space posture with software image, prevention crane hangs loading
With the collision on ground.
3. a kind of indoor dock anti-collision system according to claim 1, it is characterised in that: the big car position checkout gear
Using absolute value encoder mode, absolute encoder is verified and detected using RFID magnetic nail mode, the trolley up and down
Positioning device realizes position detection using laser bar code band positioning method, and dedicated read-write scanning is installed on mobile position and is swashed
Light completes position detection work, and the position detecting device of the lifting mechanism is using included absolute value encoder mode, rotation
Positioning device selection is accurately positioned using laser bar code band mode.
4. a kind of indoor dock anti-collision system according to claim 1, it is characterised in that: the personnel positioning manages subsystem
System is linked into software management platform, and can be recorded in corresponding terminal and be shown the content of the submodule, using UWB ultra-wide
The positioning of mobile personnel is carried out with wireless location mode.
5. a kind of indoor dock anti-collision system according to claim 1, it is characterised in that: the device location management software
Subsystem is that subsystem and the collected relative position data of equipment active Anti-bumping protection subsystem, each are detected according to device location
Mechanism positioning device data, operation data and direction judge the position of collision in advance, give warning in advance and sending is ceased and desisted order.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201910645022.6A CN110255384A (en) | 2019-07-17 | 2019-07-17 | A kind of interior dock anti-collision system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910645022.6A CN110255384A (en) | 2019-07-17 | 2019-07-17 | A kind of interior dock anti-collision system |
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| CN110255384A true CN110255384A (en) | 2019-09-20 |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111498056A (en) * | 2020-04-17 | 2020-08-07 | 中船黄埔文冲船舶有限公司 | Device and method for monitoring distance between ship and inner wall of floating dock |
| CN113998593A (en) * | 2021-11-05 | 2022-02-01 | 南通中远海运川崎船舶工程有限公司 | Magnetic nail bidirectional positioning method for steel plate stacking crane in shipyard |
| CN113998595A (en) * | 2021-11-24 | 2022-02-01 | 大连科润重工起重机有限公司 | Automatic anti-collision control system of unmanned crane |
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| CN113998593A (en) * | 2021-11-05 | 2022-02-01 | 南通中远海运川崎船舶工程有限公司 | Magnetic nail bidirectional positioning method for steel plate stacking crane in shipyard |
| CN113998595A (en) * | 2021-11-24 | 2022-02-01 | 大连科润重工起重机有限公司 | Automatic anti-collision control system of unmanned crane |
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