CN110817700A - Anti-collision control system of container front crane - Google Patents
Anti-collision control system of container front crane Download PDFInfo
- Publication number
- CN110817700A CN110817700A CN201911034805.7A CN201911034805A CN110817700A CN 110817700 A CN110817700 A CN 110817700A CN 201911034805 A CN201911034805 A CN 201911034805A CN 110817700 A CN110817700 A CN 110817700A
- Authority
- CN
- China
- Prior art keywords
- container
- control module
- reach stacker
- vehicle speed
- crane
- 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.)
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Classifications
-
- 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
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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
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/48—Automatic control of crane drives for producing a single or repeated working cycle; Programme control
Abstract
The invention discloses an anti-collision control system of a reach stacker, which comprises a detection module, a control module and an execution mechanism, wherein the execution mechanism comprises a formula travelling mechanism, a telescopic boom and a lifting appliance; the detection module detects the environment around the front crane in real time, the main detection area comprises a driver vision blind area and a front crane operation range area, the driving speed of the front crane, the condition of peripheral objects and the moving speed of the peripheral objects are mainly detected, and the detection data are input into the control module. After the real-time data of the detection module is input into the control module, the control module carries out local real-time operation on the environment data to obtain a safety state value of the front suspension in the driving direction, the safety state value is compared with a preset safety state threshold value, and according to a comparison result, an execution signal is output to intervene on the vehicle speed. The control module outputs an execution signal, and the execution signal is sent to a corresponding execution mechanism and used for controlling the speed reduction of the front crane, so that the danger is avoided, and the safety of the front crane is improved.
Description
Technical Field
The invention belongs to the field of safety protection of container front handling machines, and particularly relates to an anti-collision control system of a container front handling machine.
Background
The front crane for the container is widely applied to various occasions for carrying the container and has the advantages of high operation efficiency, high construction speed and the like.
With the development of society, the construction safety of the container front-handling crane is increasingly important, and one of the technical development routes of the container front-handling crane is the operation safety. The front crane for the containers is prevented from colliding with personnel, buildings and other front cranes in an operation field, and is an important safety index of the front crane for the containers.
In order to ensure that the reach stacker does not collide with other objects, the prior art container reach stacker takes a number of technical measures, including:
1. collecting a video of a visual blind area of a driver by using a camera;
2. measuring the distance from the vehicle to the obstacle by using a ranging radar;
3. reminding a driver in a sound and light alarm mode;
the prior art cannot cover all unsafe factors of a construction site, so that the safety of the container front crane under other emergency conditions cannot be ensured, and even no technical measures for possible dangers are provided. These missed risk factors include:
1. insufficient detection of moving objects;
2. the attention of the driver is not totally in the blind area but in the operation area, which may cause careless omission;
3. lack of emergency detection and automatic handling measures;
disclosure of Invention
The scheme provides an anti-collision control system of a container front crane, which can detect static objects and moving objects, can continuously monitor the safety of a man-machine-environment of a construction site, and can timely take appropriate measures when necessary to avoid accidents and further improve the safety. The technical scheme of the invention is as follows:
an anti-collision control system of a container reach stacker comprises a detection module, a control module and an actuating mechanism, wherein the detection module is connected with the control module, and a signal detected by the detection module is 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 detection module comprises a distance detector, a video monitor and a vehicle speed detector;
the distance detector is arranged on the container reach stacker and is used for detecting the distance D between the container reach stacker and peripheral objects; the speed detector is mounted on the container front crane and used for detecting the movement speed v1 of the container front crane relative to the ground, the video detector is mounted at the rear part of the container front crane, the control module processes the video signal of the video monitor and calculates to obtain the peripheral object movement speed v 2;
the control module calculates the safety state value f of the front crane of the container in real time,
wherein a and b are preset coefficients; d0 is a preset constant.
When the container reach stacker works, the container reach stacker needs to be lifted to run, and the running environment is narrow, so that the container reach stacker is easy to collide with surrounding objects or vehicles, therefore, when the container reach stacker is controlled to run and brake, a safety margin D0 of a braking distance needs to be set, and the safety margin D0 can be specifically set according to the rated braking distance of the container reach stacker.
According to a preset safety state threshold value F of the front-side lifting machine for the container, when F > is F, the control module outputs an execution signal to control the front-side lifting machine for the container to reduce the speed until the actual speed v1 is lower than the maximum allowable speed Vmax;
further, the maximum allowable vehicle speed Vmax is a function of F, and when F > F, Vmax decreases as F increases.
Because the front crane of the container needs to be lifted to run in the running process, the gravity center of the container is higher, and the tipping stability of the whole vehicle is reduced, the front crane of the container cannot be braked violently, and only a relatively soft braking mode can be adopted to reduce the running speed of the front crane of the container. Therefore, the temperature of the molten metal is controlled,
further, the maximum allowable vehicle speed Vmax is c × cos (90 × f), and c is a preset coefficient.
The principle of the invention is as follows:
1. system composition and connection relationships
The container front crane is provided with a detection module, and the detection module comprises a distance detector, a video monitor and part or all of a vehicle speed detector. The detection module is used for detecting signals such as video images around the container front crane, the distance of objects, the speed of the vehicle and the like.
The detection module is connected with a control module of the container front-handling crane, and a signal detected by the detection module is input into the control module.
The control module is arranged on the container front crane and used for receiving the detection signal sent by the detection module.
In order to realize the safety protection of the container front-handling crane, the control module outputs an execution 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 detection module detects the environment around the container front-handling machine in real time, the main detection area comprises a driver vision blind area and a container front-handling machine operation range area, the driving speed of the container front-handling machine, the condition of peripheral objects and the moving speed of the peripheral objects are mainly detected, and the detection data are input into the control module.
After the real-time data of the detection module is input into the control module, the control module carries out local real-time operation on the environmental data to obtain a safe state value of the container front crane in the driving direction, the safe state value is compared with a preset safe state threshold value, and according to a comparison result, an execution signal is output to intervene the vehicle speed.
The control module outputs an execution signal, and the execution signal is sent to a corresponding execution mechanism and used for controlling the front lifting machine of the container to reduce the speed, so that the danger is avoided, and the safety of the front lifting machine of the container is improved.
3. Control method adopted in working process of scheme
The distance detector is arranged on the container reach stacker and is used for detecting the distance D between the container reach stacker and peripheral objects; the speed detector is arranged on the front lifting machine of the container and is used for detecting the moving speed v1 of the front lifting machine of the container relative to the ground, and the video detector is arranged at the rear part of the front lifting machine of the container and is used for detecting the video information around the front lifting machine of the container and identifying and measuring the speed of objects around the front lifting machine of the container.
The control module calculates the safety state value of the front crane of the container according to a specific algorithm according to the data D of the distance detector, the v1 of the vehicle speed detector and the measured object moving speed v 2:
wherein: a. b is a preset coefficient. D0 is a preset constant.
A safety state threshold value F of the container front-side lifting machine is preset, when a real-time safety state value F obtained by calculation of the control module is equal to F, the control module outputs an execution signal to control the container front-side lifting machine to reduce the vehicle speed until the actual vehicle speed v1 is lower than the maximum allowable vehicle speed Vmax.
Vmax is a function of F, and when F > F, Vmax decreases as F increases.
Further, Vmax is c × cos (90 × f), and c is a preset coefficient.
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 distance detector, the video monitor and the vehicle speed detector are arranged on the container front-handling crane and are used for detecting signals such as video images, object distances, vehicle speeds and the like around the container front-handling crane.
The controller is arranged on the container front crane and is connected with the distance detector, the video monitor and the vehicle speed detector.
In order to realize the safety protection of the container front lifting machine, the controller outputs an execution signal to the execution mechanism, and the execution signal is used for limiting the speed of the container front lifting machine so as to improve the safety of the container front lifting machine and a construction site; 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 speed detector detects the running speed v1 of the reach stacker, the distance detector detects the distance D between the peripheral objects and the reach stacker, the video monitor shoots the video around the reach stacker and identifies the categories and the moving speed v2 of the peripheral objects, and the detected data are input into the controller.
After the detected real-time data are input into the controller, the controller carries out real-time operation on the data to obtain a safe state value F of the front crane of the container in the driving direction, the safe state value F is compared with a preset safe state threshold value F, and according to a comparison result, an execution signal is output to intervene the speed of the container.
The control module outputs an execution signal, and the execution signal is sent to a corresponding execution mechanism and used for controlling the front lifting machine of the container to reduce the speed, so that the danger is avoided, and the safety of the front lifting machine of the container 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 distance detector is installed on the container front-handling crane and used for detecting the distance D between the container front-handling crane and peripheral objects; the speed detector is arranged on the front lifting machine of the container and is used for detecting the moving speed v1 of the front lifting machine of the container relative to the ground, and the video detector is arranged at the rear part of the front lifting machine of the container and is used for detecting the video information around the front lifting machine of the container and identifying and measuring the speed of objects around the front lifting machine of the container.
The control module calculates the safety state value of the front crane of the container according to a specific algorithm according to the data D of the distance detector, the v1 of the vehicle speed detector and the measured object moving speed v 2:
wherein: a. b is a preset coefficient, and in the embodiment, a is 1, and b is 1. D0 is preset to 2
The safety state threshold value F of the front crane for the container is preset to be 0.2, when the real-time safety state value F obtained by calculation of the control module is equal to F, the control module outputs an execution signal to control the front crane for the container to reduce the speed of the container until the actual speed v1 is lower than the maximum allowable speed Vmax.
Vmax is a function of F, and when F > F, Vmax decreases as F increases. In this embodiment, the functional relationship between Vmax and f is:
Vmax＝4×cos(90×f)
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. The container reach stacker anti-collision control system is characterized by comprising a detection module, a control module and an execution mechanism, wherein the detection module is connected with the control module, and a signal detected by the detection module is input into the control module; the control module is connected with the executing mechanism and sends an executing signal to the executing mechanism for operating and controlling the container reach stacker;
the actuating mechanism comprises a walking mechanism, a telescopic arm support and a lifting appliance;
the detection module comprises a distance detector, a video monitor and a vehicle speed detector;
the distance detector is arranged on the container reach stacker and is used for detecting the distance D between the container reach stacker and peripheral objects; the vehicle speed detector is arranged on the container reach stacker and used for detecting the movement speed v1 of the container reach stacker relative to the ground, the video detector is arranged at the rear part of the container reach stacker, the control module processes the video signal of the video monitor and calculates the movement speed v2 of the peripheral object;
the control module calculates the safety state value f of the container reach stacker in real time,
wherein a and b are preset coefficients; d0 is a preset constant;
and according to a preset container front crane safety state threshold value F, when F > is F, the control module outputs an execution signal and controls the container front crane to reduce the vehicle speed until the actual vehicle speed v1 is lower than the maximum allowable vehicle speed Vmax.
2. The container reach stacker impact control system of claim 1, wherein the maximum allowable vehicle speed Vmax is a function of F, and when F > F, Vmax decreases as F increases.
3. The anti-collision control system for the front-loading crane of the container as claimed in claim 2, wherein the maximum allowable vehicle speed Vmax is c × cos (90 × f), and c is a preset coefficient.
4. The system as claimed in claim 3, wherein the predetermined coefficient c is 4.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911034805.7A CN110817700A (en) | 2019-10-29 | 2019-10-29 | Anti-collision control system of container front crane |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911034805.7A CN110817700A (en) | 2019-10-29 | 2019-10-29 | Anti-collision control system of container front crane |
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| Publication Number | Publication Date |
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| CN110817700A true CN110817700A (en) | 2020-02-21 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201911034805.7A Withdrawn CN110817700A (en) | 2019-10-29 | 2019-10-29 | Anti-collision control system of container front crane |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113086852A (en) * | 2021-03-31 | 2021-07-09 | 赤湾集装箱码头有限公司 | Container spreader management system based on Internet of things |
-
2019
- 2019-10-29 CN CN201911034805.7A patent/CN110817700A/en not_active Withdrawn
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113086852A (en) * | 2021-03-31 | 2021-07-09 | 赤湾集装箱码头有限公司 | Container spreader management system based on Internet of things |
| CN113086852B (en) * | 2021-03-31 | 2024-03-22 | 赤湾集装箱码头有限公司 | Container sling management system based on Internet of things |
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Application publication date: 20200221 |
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| WW01 | Invention patent application withdrawn after publication |