CN110642149A - Safety protection system for personnel on operation site of container reach stacker - Google Patents

Safety protection system for personnel on operation site of container reach stacker Download PDF

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Publication number
CN110642149A
CN110642149A CN201910980818.7A CN201910980818A CN110642149A CN 110642149 A CN110642149 A CN 110642149A CN 201910980818 A CN201910980818 A CN 201910980818A CN 110642149 A CN110642149 A CN 110642149A
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area
value
reach stacker
control module
container
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Chinese (zh)
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曹显利
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Jinhua Shenlian Network Technology Co Ltd
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Jinhua Shenlian Network Technology Co Ltd
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    • 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
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
    • G01C11/36—Videogrammetry, i.e. electronic processing of video signals from a single source or from different sources to give parallax or range information
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Multimedia (AREA)
  • Electromagnetism (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Mechanical Engineering (AREA)
  • Signal Processing (AREA)
  • Control And Safety Of Cranes (AREA)

Abstract

The invention discloses a safety protection system for personnel on the operation site of a container reach stacker, which comprises an environment monitoring module, a control module and an execution mechanism, wherein the execution mechanism comprises a formula walking mechanism, a telescopic arm frame and a lifting appliance; the control module and the cloud server collect signals of the video detector to carry out real-time calculation to obtain a safe state value f of the front crane of the container; presetting a trigger value A of a safety state value f, and when the safety state value f is not less than A, outputting an execution signal to an execution mechanism by a control module to limit the movement speed of the execution mechanism not to exceed a preset value B; the area set value x around the front crane is set according to the following modes: a working area: a construction site area of a container reach stacker; the construction area is as follows: the area in the operation radius of the container reach stacker; high risk area: the front and back of the tire, the telescopic arm support, the lower part of the lifting appliance and the reciprocating operation range of the telescopic arm support in the operation radius area of the container reach stacker.

Description

Safety protection system for personnel on operation site of container reach stacker
Technical Field
The invention belongs to the field of engineering machinery safety protection, and particularly relates to a personnel safety protection system for a front crane operation site of a container.
Background
The engineering machine is widely applied to various fields of engineering construction, has the advantages of high operation efficiency, high construction speed and the like, wherein the container front-handling crane is a representative container hoisting and transporting machine, has wide application range and good site adaptability, and can flexibly complete various construction tasks such as container loading, unloading, carrying and the like.
With the development of society, the construction safety of engineering machinery is increasingly important, and taking a container front crane as an example, the safety of a construction operation site mainly comprises the following aspects:
1. personnel safety of a construction site, including safety of a driver of the container reach stacker and other personnel on the site;
2. the equipment safety of the construction site comprises a container front crane and other equipment safety in the site construction range;
3. the construction site is safe in environment, including site foundation, surrounding buildings, structures and the like.
For the safety of personnel on the construction site of the container front-handling crane, the technical measure adopted by the prior art is to install a camera on the container front-handling crane for shooting the video of a visual blind area of a driver, displaying the shot video on a display screen in a cab and providing the video for the driver as a reference.
The technical measures adopted by the prior art have the following disadvantages:
1. the video contains more information, and the personnel information is not extracted for key processing;
2. the personnel safety of the construction site depends on the attention of the driver to a great extent and is properly treated, and in fact, the attention of the driver is mainly on the operation mechanism of the front crane of the container and the periphery of the operation mechanism, and only a small part of the attention focuses on the display screen;
3. when a safety accident is about to occur in a construction site, the front lifting machine for the container cannot automatically take measures so as to avoid the safety accident.
Disclosure of Invention
This scheme provides a container front handling machine operation scene personnel safety protection system, can gather and draw key information, real-time recognition site personnel, in time take suitable measure according to the danger degree, and then avoid the emergence of container front handling machine construction site personnel incident. The technical scheme of the invention is as follows:
a safety protection system for personnel on the operation site of a container reach stacker comprises an environment monitoring module, a control module and an actuating mechanism,
the environment monitoring module is connected with the control module, and signals monitored by the environment monitoring module are input into the control module; the control module is connected with the actuating mechanism and sends an actuating signal to the actuating mechanism for operating and controlling the container front-handling crane;
the actuating mechanism comprises a walking mechanism, a telescopic arm support and a lifting appliance;
the environment monitoring module comprises a video detector for detecting and detecting video images around the container reach stacker;
the control module is connected with the cloud server through a remote communication device, so that data exchange between the control module and the cloud server is realized;
the control module and the cloud server collect signals of the video detector to carry out real-time calculation to obtain a safe state value f of the front crane of the container; presetting a trigger value A of a safety state value f, and when the safety state value f is not less than A, outputting an execution signal to an execution mechanism by a control module to limit the movement speed of the execution mechanism not to exceed a preset value B;
further, the safe state value f is calculated as follows:
wherein a and b are weighting coefficients,
x is the area set value around the container reach stacker,
n is the number of people in each zone,
v1 is the travel speed of the reach stacker,
v2 is the speed of movement from the nearest person, positive indicating closer to a more dangerous area and negative indicating closer to a less dangerous area.
The area set value x around the container reach stacker is set according to the following modes:
a working area: a construction site area of a container reach stacker;
the construction area is as follows: the area in the operation radius of the container reach stacker;
high risk area: the front and back of the tire, the telescopic arm support, the lower part of the lifting appliance and the reciprocating operation range of the telescopic arm support in the area within the operation radius of the container reach stacker crane;
the value of the working area x is less than the value of the area under construction x is less than the value of the high-risk area x;
further, the monitoring area of the video detector comprises: a driver vision blind area, a container front lifting machine operation range area and the ground where the container front lifting machine is located;
further, the area set value x around the reach stacker is as follows:
the working area x is 3, the in-construction area x is 12, and the high-risk area x is 100;
further, the trigger value a of the safety state value f is 75;
further, the movement speed value B of the actuator is limited to 0.
The principle of the invention is as follows:
1. system composition and connection relationships
The container front crane is provided with an environment monitoring module, and the environment monitoring module comprises part or all of an electromagnetic wave detector, a radar detector and a video detector. The environment monitoring module is used for detecting and detecting signals such as video images, object shapes, object distances and the like around the container reach stacker.
The environment monitoring module is connected with a control module of the container front-handling crane, and signals monitored by the environment monitoring module are input into the control module.
The control module is arranged on the container front-handling crane and used for the complete machine control of the container front-handling crane. The control module is used for receiving, storing, processing and outputting the safety state information and the process data of the front crane for the containers.
The control module is connected with the cloud server through the remote communication device, and data exchange between the control module and the cloud server is achieved. The control module and the cloud server jointly undertake the safety protection of the front crane of the container.
In order to realize the safety protection of the container front-handling crane, the control module outputs a safety protection signal for the control module to operate and control the container front-handling crane so as to improve the safety of the container front-handling crane and a construction site.
2. Working principle of safety protection system in scheme
The environment monitoring module carries out real-time supervision to the environment around the positive handling machine of container, and main monitoring area includes:
the blind area of the vision of the driver is,
the operation range area of the container reach stacker,
the ground of the container front-handling crane,
after the real-time data of the environment monitoring module is input into the control module, the control module processes the environment monitoring data, calls the human shape recognition module and carries out local real-time operation to obtain preliminary local conclusion information including the number of people in different areas and the moving speed of the people; meanwhile, the control module sends the environment monitoring data and the preliminary calculation conclusion to the cloud server through communication with the cloud server, and receives cloud conclusion information sent by the cloud server. The local conclusion information and the cloud conclusion information describe the following security-related information:
monitoring the number of people in the area;
monitoring the location of personnel within the area;
monitoring the moving speed of personnel in the area;
and integrating the local conclusion information and the cloud conclusion information, and outputting an execution signal by the control module. The executing signals are sent to the corresponding executing mechanisms for operating the components of the container front lifting machine or the whole machine to act, so that the danger is avoided, and the safety of the container front lifting machine is improved.
3. Control method adopted in working process of scheme
Through the mode of predefining and setting, according to the distance degree from the container front crane, the area around the container front crane is divided into a plurality of areas which are contained layer by layer, and the area division mode is as follows:
a working area: a construction site area of a container reach stacker;
the construction area is as follows: the area in the operation radius of the container reach stacker;
high risk area: the front and back of the tire, the telescopic arm support, the lower part of the lifting appliance and the reciprocating operation range of the telescopic arm support in the operation radius area of the container reach stacker.
The high-risk area is a part of a construction area, and the construction area is a part of a working area. Setting a region value x for the region;
and integrating the local conclusion information and the cloud conclusion information, and outputting the number n of the personnel in the area and the moving speed v of each personnel by the control module.
Based on the zone set value x, the number of people n in each zone, and the moving speed v of each person, the control module calculates a safety state value f (x, n, v1, v2) as follows:
Figure BDA0002235122360000061
wherein a and b are weighting coefficients,
x is the area set value around the container reach stacker,
n is the number of people in each zone,
v1 is the travel speed of the reach stacker,
v2 is the speed of movement from the nearest person, positive indicating closer to a more dangerous area and negative indicating closer to a less dangerous area.
The above calculation method can be equivalently modified into other calculation methods. Other equivalent calculation methods are within the scope of the present invention.
A trigger value A of a safety state value f (x, n, v1, v2) is preset, and when the safety state value f (x, n, v1, v2) ≧ A, the control module outputs a safety protection signal to the actuator to limit the movement speed of the actuator to be not more than a preset value B. The actuating mechanism comprises a walking mechanism, a telescopic arm support and a lifting appliance.
Drawings
FIG. 1 is a schematic diagram of the connection relationship between modules of the present invention
FIG. 2 is a flow chart of a control method of the present invention
Detailed Description
The technical solution of the present invention is further illustrated by the following specific embodiments:
1. system composition and connection relationships
The front container handling machine is provided with an environment monitoring module, and the environment monitoring module adopts a video detector and is used for detecting and detecting video images around the front container handling machine.
The video detector is connected with a control module of the container front-handling crane through a control bus, and signals monitored by the video detector are input into the control module through the control bus.
The container front handling machine is provided with a main controller serving as a control module, the main controller is connected with a remote communication device through a control bus, and the remote communication device is connected with a cloud server through wireless communication and exchanges data.
In order to realize the safety protection of the container reach stacker, the main controller outputs a safety protection signal to the execution mechanism, and the safety protection signal is used for the main controller to operate and control the container reach stacker so as to improve the safety of personnel on the construction site of the container reach stacker. The actuating mechanism comprises a walking mechanism, a telescopic arm support and a lifting appliance. The connection relationship of the modules is shown in fig. 1.
2. Working principle of safety protection system in scheme
The video detector carries out real-time supervision to the environment around the container reach stacker, and main monitoring area includes:
the blind area of the vision of the driver is,
the operation range area of the container reach stacker,
the ground of the container front-handling crane,
after real-time data of the video detector is input into the main controller, the main controller processes environment monitoring data, calls the human shape recognition module and carries out local real-time operation to obtain preliminary local conclusion information including the number of people in different areas and the moving speed of the people; meanwhile, the main controller transmits part or all of the environment monitoring data to the cloud server through communication with the cloud server, and receives cloud conclusion information transmitted by the cloud server. The contents of the local conclusion information and the cloud conclusion information describe the following security-related information:
monitoring the number of people in the area;
monitoring the location of personnel within the area;
monitoring the moving speed and direction of personnel in the area;
and integrating the local conclusion information and the cloud conclusion information, and outputting an execution signal by the main controller. The executing signals are sent to the corresponding executing mechanisms for operating the components of the container front lifting machine or the whole machine to act, so that the danger is avoided, and the safety of the container front lifting machine is improved.
3. Control method adopted in working process of scheme
The control method flow chart of the scheme is shown in fig. 2, and the area around the container front lifting machine is divided into three areas which are contained layer by layer according to the distance degree from the container front lifting machine in a predefined and set mode, wherein the area division mode is as follows:
a working area: the construction site area of the container reach stacker, namely the range that any part of the container reach stacker can enter;
the construction area is as follows: the area in the operation radius where the container reach stacker is currently located;
high risk area: the front and back of the tire, the telescopic arm support, the lower part of the lifting appliance and the reciprocating operation range of the telescopic arm support in the operation radius area of the container reach stacker.
The high-risk area is a part of a working area, and the working area is a part of a construction area. Setting an area value x for the area, setting a working area x to be 3, setting a construction area x to be 12, and setting a high-risk area x to be 100;
and according to the information identified by the local personnel information and the information returned by calling the cloud server, the control module outputs personnel data in each area, including the number n and the moving speed v of each personnel.
Based on the zone set value x, the number of people n in each zone, and the moving speed v of each person, the control module calculates a safety state value f (x, n, v1, v2) as follows:
Figure BDA0002235122360000081
wherein a and b are weighting coefficients,
x is the area set value around the container reach stacker,
n is the number of people in each zone,
v1 is the travel speed of the reach stacker,
v2 is the speed of movement from the nearest person, positive indicating closer to a more dangerous area and negative indicating closer to a less dangerous area.
The above calculation method can be equivalently modified into other calculation methods. Other equivalent calculation methods are within the scope of the present invention.
The trigger value a of one safety state value f (x, n, v1, v2) is preset to be 75, and when the safety state value f (x, n, v1, v2) ≧ 75, the main controller outputs a safety protection signal to the actuator to limit the movement speed of the actuator to be not more than a preset value B, where B is 0 in this embodiment. The actuating mechanism comprises a walking mechanism, a telescopic arm support and a lifting appliance.
The invention has been described in an illustrative manner, and it is to be understood that the invention is not limited to the above-described embodiments, and that various modifications may be made without departing from the spirit and scope of the invention.

Claims (4)

1. A safety protection system for personnel on the operation site of a container reach stacker is characterized by comprising an environment monitoring module, a control module and an actuating mechanism,
the environment monitoring module is connected with the control module, and signals monitored by the environment monitoring module are input into the control module; the control module is connected with the actuating mechanism and sends an actuating signal to the actuating mechanism for operating and controlling the container front-handling crane;
the actuating mechanism comprises a walking mechanism, a telescopic arm support and a lifting appliance;
the environment monitoring module comprises a video detector for detecting and detecting video images around the front crane;
the control module is connected with the cloud server through a remote communication device, so that data exchange between the control module and the cloud server is realized;
the control module and the cloud server collect signals of the video detector to carry out real-time calculation to obtain a safety state value f of the front crane; presetting a trigger value A of a safety state value f, and when the safety state value f is not less than A, outputting an execution signal to an execution mechanism by a control module to limit the movement speed of the execution mechanism not to exceed a preset value B;
the calculation method of the safety state value f is as follows:
Figure FDA0002235122350000011
wherein a and b are weighting coefficients,
x is the area set value around the container reach stacker,
n is the number of people in each zone,
v1 is the travel speed of the reach stacker,
v2 is the speed of movement from the nearest person, positive indicating closer to a more dangerous area and negative indicating closer to a less dangerous area;
the area set value x around the front crane is set according to the following modes:
a working area: a construction site area of a container reach stacker;
the construction area is as follows: the area in the operation radius of the container reach stacker;
high risk area: the front and back of the tire, the telescopic arm support, the lower part of the lifting appliance and the reciprocating operation range of the telescopic arm support in the area within the operation radius of the container reach stacker crane;
work area x value < under construction area x value < high risk area x value.
2. The reach stacker personnel security protection system of claim 1, wherein the zonal setpoint x around the reach stacker is:
the working area x is 3, the in-construction area x is 12, and the high risk area x is 100.
3. The reach stacker personnel safety protection system of claim 1, wherein the trigger value a of the safety status value f is 75.
4. The safety system for personnel on a reach stacker according to claim 1, wherein the motion speed value B of the limiting actuator is 0.
CN201910980818.7A 2019-10-16 2019-10-16 Safety protection system for personnel on operation site of container reach stacker Withdrawn CN110642149A (en)

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CN201910980818.7A CN110642149A (en) 2019-10-16 2019-10-16 Safety protection system for personnel on operation site of container reach stacker

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Application Number Priority Date Filing Date Title
CN201910980818.7A CN110642149A (en) 2019-10-16 2019-10-16 Safety protection system for personnel on operation site of container reach stacker

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Publication Number Publication Date
CN110642149A true CN110642149A (en) 2020-01-03

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