CN111003540A - Ship unloaders anti-collision method, system, equipment and storage medium - Google Patents
Ship unloaders anti-collision method, system, equipment and storage medium Download PDFInfo
- Publication number
- CN111003540A CN111003540A CN201911180638.7A CN201911180638A CN111003540A CN 111003540 A CN111003540 A CN 111003540A CN 201911180638 A CN201911180638 A CN 201911180638A CN 111003540 A CN111003540 A CN 111003540A
- Authority
- CN
- China
- Prior art keywords
- ship unloader
- ship
- range
- collision
- unloader
- 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.)
- Granted
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G67/00—Loading or unloading vehicles
- B65G67/60—Loading or unloading ships
Landscapes
- Engineering & Computer Science (AREA)
- Ocean & Marine Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Ship Loading And Unloading (AREA)
Abstract
The application relates to a ship unloader collision avoidance method, system, device and storage medium. A ship unloader collision avoidance method comprises the steps of collecting the rotation angle and the pitching angle of an arm support of a ship unloader; judging whether a material taking mechanism of the ship unloader enters a cabin or not according to the rotation angle and the pitching angle of the arm support: if so, determining that the movable range of the ship unloader is the first range and removing the space anti-collision system of the ship unloader; the first range is determined according to the hatch size of the cabin; if not, determining that the movable range of the ship unloader is a second range; the second range is determined by a space collision avoidance system of the ship unloader. The anti-collision method of the ship unloaders can ensure effective anti-collision among the ship unloaders, and meanwhile, more ship unloaders are put into production operation, so that the overall production efficiency of the ship unloaders is effectively improved.
Description
Technical Field
The application relates to the field of engineering control, in particular to an anti-collision method, system, equipment and storage medium for a ship unloader.
Background
The ship unloader is a mechanical device used in bulk cargo ports, and is provided with a cart walking mechanism, an arm support rotation and pitching mechanism and a material taking mechanism at the head of the arm support. In the engineering operation process, the ship unloader needs to keep the material taking mechanism in the cabin, and the operations of cabin changing, cabin changing and the like are realized in a mode of matching arm support rotation, pitching control and cart walking, so that the operation of the ship unloader needs to occupy larger operation space.
In the ship unloading operation, the whole operation space of each ship unloader is relatively small due to the limitation of the size of the ship model, and the operation is easy to generate collision accidents. The safe anti-collision protection system is triggered by calculating the cart walking position, the rotation angle and the pitching angle of each ship unloader in real time and combining the self structure to set a safe anti-collision area, and when the anti-collision areas among the ship unloaders generate intersection, the ship unloaders are forbidden to move in opposite directions, so that the ship unloaders are prevented from further approaching collision accidents, and the system is called a space anti-collision system.
In the implementation process, the inventor finds that at least the following problems exist in the conventional technology: in a space anti-collision system of the ship unloader, the whole operation space of each device is limited, the ship unloader occupies a large operation space, the operation space cannot be effectively utilized, and the operation efficiency is low. If drop into more ship unloaders simultaneous operation, the safe anticollision region between the ship unloaders is the intersection of easily appearing, and the anticollision protection between the trigger equipment leads to the unable normal work of ship unloaders, can't satisfy many ship unloaders simultaneous operation, influences ship unloaders operating efficiency.
Disclosure of Invention
In view of the above, it is necessary to provide a ship unloader collision avoidance method, system, device, and storage medium, which address the problem of low operation efficiency of the conventional ship unloader.
In order to achieve the above object, in one aspect, an embodiment of the present application provides a ship unloader collision avoidance method.
A ship unloader collision avoidance method comprising:
collecting a rotation angle and a pitching angle of an arm support of the ship unloader;
judging whether a material taking mechanism of the ship unloader enters a cabin or not according to the rotation angle and the pitching angle of the arm support: if so, determining that the movable range of the ship unloader is the first range and removing the space anti-collision system of the ship unloader; the first range is determined according to the hatch size of the cabin; if not, determining that the movable range of the ship unloader is a second range; the second range is determined by a space collision avoidance system of the ship unloader.
In one embodiment, if yes, the steps of determining that the movement range of the ship unloader is the first range and releasing the space anti-collision system of the ship unloader comprise the following steps:
and when the distance between the material taking mechanism and the hatch is detected to be less than the preset distance, an alarm signal is sent out.
In one embodiment, before the step of judging whether the material taking mechanism of the ship unloader enters the cabin according to the rotation angle and the pitching angle of the arm support, the method comprises the following steps:
collecting the walking position of the ship unloader;
sending the walking position, the rotation angle and the pitch angle to a space anti-collision system of the ship unloader;
acquiring a second range; the second range is determined by the space anti-collision system of the ship unloader according to the walking position, the rotation angle and the pitching angle.
In one embodiment, before the step of judging whether the material taking mechanism of the ship unloader enters the cabin according to the rotation angle and the pitch angle of the arm support, the method further comprises the following steps:
and entering a manual mode when a space anti-collision system of the ship unloader is triggered and the ship unloader stops running.
In one embodiment, the step of judging whether the material taking mechanism of the ship unloader enters the cabin or not according to the rotation angle and the pitching angle of the arm support comprises the following steps:
and when the rotation angle of the ship unloader is within the preset working angle range and the pitch angle is smaller than the preset pitch angle, determining that the material taking mechanism of the ship unloader enters the cabin.
In one embodiment, the method comprises the following steps:
and when the material taking mechanism does not enter the cabin and the ship unloader enters the movable range of the adjacent ship unloader, triggering a space anti-collision system of the ship unloader to stop the operation of the ship unloader.
On the other hand, this application embodiment still provides a ship unloaders collision avoidance system, includes:
the acquisition device is used for acquiring the rotation angle and the pitching angle of the arm support of the ship unloader;
the movable range determining device is used for judging whether the material taking mechanism of the ship unloader enters the cabin or not according to the rotation angle and the pitching angle of the arm support: if so, determining that the movable range of the ship unloader is the first range and removing the space anti-collision system of the ship unloader; the first range is determined according to the hatch size of the cabin; if not, determining that the movable range of the ship unloader is a second range; the second range is determined by a space collision avoidance system of the ship unloader.
In one embodiment, the acquisition device comprises:
the position acquisition module is used for acquiring the walking position of the ship unloader;
the rotation angle acquisition module is used for acquiring the rotation angle of the arm support;
and the pitching angle acquisition module is used for acquiring the pitching angle of the arm support.
On the other hand, the embodiment of the present application further provides a computer device, which includes a memory, a processor, and a computer program stored on the memory and executable on the processor, and when the processor executes the computer program, the ship unloader collision avoidance method is implemented.
On the other hand, the embodiment of the application also provides a computer storage medium, wherein a computer program is stored on the computer storage medium, and when the computer program is executed by a processor, the computer program realizes the ship unloader collision avoidance method.
One of the above technical solutions has the following advantages and beneficial effects:
and judging whether the material taking mechanism corresponding to each ship unloader enters the cabin or not according to the rotation angle of the arm support of each ship unloader and the pitching angle of the arm support. If the material taking mechanism of the ship unloader enters the cabin, the activity of the ship unloader in a first range is determined through the physical isolation characteristic between the cabins, a space anti-collision system of the ship unloader is not needed, and the utilization rate of the operation space of the ship unloader is improved. Wherein the first range is determined according to a hatch size of the hold; and if the material taking mechanism does not enter the cabin, determining the moving range of the corresponding ship unloader to be within a second range, wherein the second range is determined by a space anti-collision system of the ship unloader, so that effective anti-collision is carried out between the adjacent ship unloaders, the ship unloader of which the material taking mechanism does not enter the cabin is ensured to be still effective to the space anti-collision system of the adjacent ship unloader, and the work of the ship unloaders is ensured not to be interfered with each other. The ship unloader anti-collision method can guarantee effective anti-collision among the ship unloaders, and meanwhile, more ship unloaders can be put into production operation, so that the overall production efficiency is improved.
Drawings
The foregoing and other objects, features and advantages of the application will be apparent from the following more particular description of preferred embodiments of the application, as illustrated in the accompanying drawings. Like reference numerals refer to like parts throughout the drawings, and the drawings are not intended to be drawn to scale in actual dimensions, emphasis instead being placed upon illustrating the subject matter of the present application.
FIG. 1 is a comparison of 2 ship unloaders operating simultaneously and 3 ship unloaders operating simultaneously without the method of the present application in one embodiment;
FIG. 2 is a first schematic flow chart of a method of collision avoidance for a ship unloader in one embodiment;
FIG. 3 is a second schematic flow chart of a method of collision avoidance for a ship unloader according to one embodiment;
FIG. 4 is a third schematic flow chart diagram of a method of collision avoidance for a ship unloader in one embodiment;
FIG. 5 is a schematic illustration of the simultaneous operation of 3 ship unloaders in one embodiment using the method of the present application;
fig. 6 is a schematic structural diagram of a collision avoidance system of the ship unloader in one embodiment.
Detailed Description
To facilitate an understanding of the present application, the present application will now be described more fully with reference to the accompanying drawings. Preferred embodiments of the present application are shown in the drawings. This application may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein in the description of the present application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
The embodiment of the application can be applied to the field of engineering control; in the operation of the ship unloader, the ship unloader needs to keep the material taking mechanism in a cabin, the operations of cabin alignment, cabin change and the like are carried out through the coordination of arm support rotation, pitching control and cart walking, and the operation of the ship unloader needs to occupy larger operation space. However, since the overall space operation of each ship unloader is small due to the limitation of the size of the ship model and collision accidents easily occur between the adjacent ship unloaders, the space collision avoidance system of the ship unloader is provided according to the traveling position, the turning angle and the pitching angle of each ship unloader to determine the operating range of the ship unloader. Assuming that the ship is loaded and unloaded with 6 cabins, as shown in fig. 1, a comparison chart of the simultaneous operation of 2 ship unloaders and 3 ship unloaders is provided respectively when the method of the present application is not adopted. Every ship unloader is separated by 2 cabins for operation, and then the ship unloader A and the ship unloader B can be put into operation simultaneously; if 3 ship unloaders are required to be put into operation at the same time, 1 cabin is required to be arranged between the ship unloaders A, B and C for operation, the anti-collision areas of the ship unloaders intersect, the space anti-collision systems of the ship unloaders are triggered, the opposite movement of walking, rotation and pitching of the ship unloaders is stopped, the ship unloaders cannot normally operate, namely three ship unloaders cannot be put into operation at the same time, the operation space cannot be effectively utilized, and the overall operation efficiency is influenced. If the safe anti-collision area set by the space anti-collision system is reduced, the risk of mutual collision between the ship unloaders is increased. Therefore, the embodiment of the application provides an anti-collision method for the ship unloaders, which can ensure effective anti-collision among the ship unloaders and improve the utilization rate of a space anti-collision system, and meanwhile, more ship unloaders can be put into production operation simultaneously, so that the production efficiency of the whole ship unloaders is improved.
In one embodiment, as shown in fig. 2, there is provided a ship unloader collision avoidance method including:
step S110, collecting a rotation angle and a pitching angle of an arm support of the ship unloader;
step S140, judging whether the material taking mechanism of the ship unloader enters a cabin according to the rotation angle and the pitching angle of the arm support: if so, determining that the movable range of the ship unloader is the first range and removing the space anti-collision system of the ship unloader; the first range is determined according to the hatch size of the cabin; if not, determining that the movable range of the ship unloader is a second range; the second range is determined by a space collision avoidance system of the ship unloader.
Specifically, the rotation angle of an arm support of the ship unloader and the pitching angle of the arm support are collected, and whether a material taking mechanism of the ship unloader enters a cabin or not is judged according to the rotation angle and the pitching angle of the arm support. Illustratively, whether the material taking mechanism of the ship unloader enters the cabin is determined according to the rotation angle and the pitching angle of the arm support and the actual length of the arm support. And if so, determining the movable range of the ship unloader as a first range and releasing a space anti-collision system of the ship unloader, wherein the first range is determined according to the size of the hatch of the cabin. When the material taking mechanism of the ship unloader enters the cabin, the moving range of the ship unloader is determined by the size of the hatch of the cabin. Mutually independent between each cabin, thereby the feed mechanism who unloads the ship machine gets into the hatch, thereby the physical isolation characteristic through this cabin restricts the feed mechanism home range of the ship machine and confirms the home range of the ship machine in first within range, only need guarantee this moment the regional within range of the activity of ship machine can not have other ship machines to get into, this ship machine work is safe state promptly in first within range, need not to reuse this ship machine to the space anticollision system of adjacent equipment, improve the utilization ratio in ship machine operation space. And if not, determining that the movable range of the ship unloader is a second range, wherein the second range is determined by a space anti-collision system of the ship unloader. The space anti-collision system of the ship unloader stops the ship unloader from further walking, turning or pitching according to the minimum distance between the ship unloader and the adjacent ship unloader on the premise of ensuring that the ship unloader does not collide with the adjacent ship unloader if the minimum distance is smaller than the safety distance determined by the space anti-collision system, so that the ship unloader is prevented from colliding with the adjacent ship unloader.
Illustratively, when the material taking mechanism of the first ship unloader enters the cabin, the movable range of the first ship unloader is determined to be the corresponding first range, the space collision avoidance system of the first ship unloader is released, and the space collision avoidance system of the second ship unloader is still effective when the second ship unloader does not enter the cabin. When the second ship unloaders invade the home range of first ship unloaders, trigger the space collision avoidance system of second ship unloaders, stop the further operation of second ship unloaders, when guaranteeing that first ship unloaders can normally work, avoid collision, the safe operation of two ship unloaders. And the back is come out from the cabin to the ship unloader, and the hatch has lost the limiting action to the home range of ship unloader, resumes this ship unloader to the space anticollision system of adjacent ship unloader, guarantees that the activity of ship unloader at the second scope that corresponds, effectively prevents it and adjacent ship unloader bump. In one embodiment, the second range of the ship unloader is greater than the first range.
And collecting the rotation angle and the pitching angle of the arm support of each ship unloader, and judging whether the material taking mechanism of each ship unloader enters the cabin. And if the material taking mechanism of each ship unloader enters the corresponding cabin, determining the movable range of the corresponding ship unloader as a first range, and releasing the space anti-collision system corresponding to each ship unloader. And if not, determining that the corresponding movable range of the ship unloader is the second range. Based on the anti-collision method of the ship unloaders, the space anti-collision systems of the ship unloaders are reasonably utilized, more ship unloaders are invested to carry out normal operation while safe anti-collision among the ship unloaders can be guaranteed, the whole operation space utilization rate is improved, and the whole production efficiency of the ship unloaders is improved.
In one embodiment, if yes, the steps of determining that the range of motion of the ship unloader is the first range and deactivating the space collision avoidance system of the ship unloader include:
and when the distance between the material taking mechanism and the hatch is detected to be less than the preset distance, an alarm signal is sent out.
Specifically, after judging that the material taking mechanism of the ship unloader enters the cabin, the space anti-collision system of the ship unloader is automatically released, so that the ship unloader operates in a first range. When detecting that the distance between the material taking mechanism of the ship unloader and the hatch is less than the preset distance, sending an alarm signal, thereby ensuring the anti-collision of the ship unloader and the hatch. Exemplarily, the distance between the material taking mechanism and the hatch is detected, and when the distance between the material taking mechanism of the ship unloader and the hatch is smaller than a preset distance, an alarm signal is sent out, so that an operator is reminded to control the position of the material taking mechanism to avoid collision. Illustratively, a pressure sensor is arranged on the material taking mechanism of the ship unloader, and when the distance between the material taking mechanism of the ship unloader and the hatch is less than a preset distance, a pressure signal is detected, so that an alarm signal is sent to remind people. This application embodiment is after extracting mechanism gets into the cabin, through the distance that detects extracting mechanism and hatch, guarantees that the anticollision that the ship unloaders followed is effective with the cabin, but this ship unloaders safe operation need not to use corresponding space collision avoidance system at first within range, improves ship unloaders' work efficiency.
In one embodiment, as shown in fig. 3, before the step of determining whether the material taking mechanism of the ship unloader enters the cabin according to the rotation angle and the pitch angle of the arm support, the method includes:
step S120, collecting the walking position of the ship unloader; sending the walking position, the rotation angle and the pitch angle to a space anti-collision system of the ship unloader; acquiring a second range; the second range is determined by the space anti-collision system of the ship unloader according to the walking position, the rotation angle and the pitching angle.
Specifically, the walking position of the ship unloader is collected, the walking position of the ship unloader, the rotation angle and the pitch angle of the arm support are sent to a space anti-collision system of the ship unloader, and a corresponding second range is obtained. The second range is determined by a space collision avoidance system of the ship unloader. And if the material taking mechanism of the ship unloader does not enter the cabin, determining that the moving range of the ship unloader is the second range, and avoiding collision accidents when the moving ranges of two adjacent ship unloaders are further close to each other when the moving ranges of the two adjacent ship unloaders are overlapped. Illustratively, the spatial collision avoidance system determines a second range of the ship unloader based on the real-time acquisition of the travel position, the roll angle, the pitch angle of the ship unloader, and the structural parameters of the ship unloader itself. Illustratively, the space collision avoidance system is determined according to the walking position, the turning angle and the pitching angle of the ship unloader, which are acquired in real time, and the distance between the ship unloader and an adjacent ship unloader. The distance between the ship unloaders and the adjacent ship unloaders can be determined by comparing the walking position data of the two adjacent ship unloaders or by a distance meter.
In one embodiment, as shown in fig. 4, before the step of determining whether the material taking mechanism of the ship unloader enters the cabin according to the rotation angle and the pitch angle of the arm support, the method further includes:
and step S130, entering a manual mode when a space collision avoidance system of the ship unloader is triggered and the ship unloader stops running.
Specifically, before judging whether the material taking mechanism of the ship unloader enters a cabin according to the rotation angle and the pitching angle of the arm support, in order to arrange more ship unloaders in a limited operation space and operate simultaneously, the space anti-collision system of the ship unloader is triggered and the ship unloader is stopped to operate, the space anti-collision system enters a manual mode, the space anti-collision system of the ship unloader is manually released in a bypass mode, the ship unloader is controlled to the cabin in a manual monitoring mode, after the material taking mechanism of the ship unloader enters the cabin, the space anti-collision system is automatically released, the movable range of the ship unloader is limited by a hatch, and therefore on the premise that the ship unloader cannot collide with an adjacent ship unloader, more ship unloaders can be arranged in the limited operation space to operate.
Exemplarily, if a ship is supposed to be unloaded and has 6 cabins, if 3 devices are required to be put into operation at the same time, the ship unloaders a, B and C need to be separated by 1 cabin operation, the collision avoidance areas of the ship unloaders intersect, the space collision avoidance systems of the ship unloaders to the adjacent ship unloaders are triggered, and three continuous ship unloaders cannot be put into operation at the same time. The space anti-collision systems of the three ship unloaders are respectively released in a bypass mode when the space anti-collision system of each ship unloader is triggered and the ship unloaders are stopped to run, a manual mode is entered, the ship unloaders are controlled to carry out cabin alignment in a manual monitoring mode, as shown in a schematic diagram of the simultaneous operation condition of the 3 ship unloaders when the method is adopted in fig. 5, after a material taking mechanism of each ship unloader enters a corresponding cabin, the space anti-collision system is automatically released, the ship unloaders are controlled to work in a corresponding first range through the limitation of hatch size, the ship unloaders A, B and C operate at intervals of 1 cabin, effective anti-collision among the ship unloaders can be guaranteed, further, more ship unloaders are put into operation, and the overall production efficiency is improved.
In one embodiment, the step of determining whether the material taking mechanism of the ship unloader enters the cabin according to the rotation angle and the pitch angle of the arm support comprises the following steps:
and when the rotation angle of the ship unloader is within the preset working angle range and the pitch angle is smaller than the preset pitch angle, determining that the material taking mechanism of the ship unloader enters the cabin.
Specifically, whether the material taking mechanism of the ship unloader enters the cabin is judged according to the rotation angle and the pitching angle of the arm support, when the rotation angle of the ship unloader is within the preset working angle range and the pitching angle of the arm support is smaller than the preset pitching angle, the material taking mechanism of the ship unloader is determined to enter the cabin, and otherwise, the material taking mechanism of the ship unloader does not enter the cabin. In actual application, due to different actual conditions of all the wharfs, the preset working angle range and the preset pitching angle of the rotation angle corresponding to the ship unloader need to be determined according to the actual conditions. For example, the preset working angle range and the preset pitch angle may be determined according to a three-dimensional model of the ship unloader and structural parameters of the cabin. Illustratively, the preset working angle range of the rotation angle of the ship unloader is-60 to 60 degrees, and the preset pitch angle is 8 degrees. And when the rotation angle of the arm support of the ship unloader is-60 degrees and the pitch angle is less than 8 degrees, determining that the material taking mechanism of the ship unloader enters the cabin.
In one embodiment, the method comprises the following steps:
and when the material taking mechanism does not enter the cabin and the ship unloader enters the movable range of the adjacent ship unloader, triggering a space anti-collision system of the ship unloader to stop the operation of the ship unloader.
Particularly, when the material taking mechanism of the ship unloader does not enter the cabin and the ship unloader enters the movable range of the adjacent ship unloader, the space anti-collision system of the ship unloader is triggered, the opposite movement of walking, rotation and pitching of the space anti-collision system is forbidden, and the ship unloader is prevented from further approaching the adjacent equipment to cause collision accidents. In this application embodiment, through guaranteeing that its space collision avoidance system is effective before each ship unloaders do not get into the cabin, effectively avoid ship unloaders and adjacent ship unloaders to bump.
It should be understood that although the various steps in the flow charts of fig. 2-4 are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least some of the steps in fig. 2-4 may include multiple sub-steps or multiple stages that are not necessarily performed at the same time, but may be performed at different times, and the order of performance of the sub-steps or stages is not necessarily sequential, but may be performed in turn or alternating with other steps or at least some of the sub-steps or stages of other steps.
In one embodiment, as shown in fig. 6, a ship unloader collision avoidance system includes:
the acquisition device is used for acquiring the rotation angle and the pitching angle of the arm support of the ship unloader;
the movable range determining device is used for judging whether the material taking mechanism of the ship unloader enters the cabin or not according to the rotation angle and the pitching angle of the arm support: if so, determining that the movable range of the ship unloader is the first range and removing the space anti-collision system of the ship unloader; the first range is determined according to the hatch size of the cabin; if not, determining that the movable range of the ship unloader is a second range; the second range is determined by a space collision avoidance system of the ship unloader.
In one embodiment, the acquisition device comprises:
and the position acquisition module is used for acquiring the walking position of the ship unloader. The location acquisition module may be, for example, a GPS locator or an encoder.
And the rotation angle acquisition module is used for acquiring the rotation angle of the arm support. Illustratively, the gyration angle acquisition module may be a GPS locator, a gyration angle sensor, or a gyration angle encoder.
And the pitching angle acquisition module is used for acquiring the pitching angle of the arm support. Illustratively, the pitch angle acquisition module may be a GPS locator, a tilt sensor, or an encoder.
In one embodiment, the movement range determining device is a PLC (Programmable Logic Controller) or a single chip.
In one embodiment, a computer device is provided, comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, the processor implementing the following steps when executing the computer program:
collecting a rotation angle and a pitching angle of an arm support of the ship unloader;
judging whether a material taking mechanism of the ship unloader enters a cabin or not according to the rotation angle and the pitching angle of the arm support: if so, determining that the movable range of the ship unloader is the first range and removing the space anti-collision system of the ship unloader; the first range is determined according to the hatch size of the cabin; if not, determining that the movable range of the ship unloader is a second range; the second range is determined by a space collision avoidance system of the ship unloader.
In one embodiment, a computer-readable storage medium is provided, having a computer program stored thereon, which when executed by a processor, performs the steps of:
collecting a rotation angle and a pitching angle of an arm support of the ship unloader;
judging whether a material taking mechanism of the ship unloader enters a cabin or not according to the rotation angle and the pitching angle of the arm support: if so, determining that the movable range of the ship unloader is the first range and removing the space anti-collision system of the ship unloader; the first range is determined according to the hatch size of the cabin; if not, determining that the movable range of the ship unloader is a second range; the second range is determined by a space collision avoidance system of the ship unloader.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in the embodiments provided herein may include non-volatile and/or volatile memory, among others. Non-volatile memory can include read-only memory (ROM), Programmable ROM (PROM), Electrically Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDRSDRAM), Enhanced SDRAM (ESDRAM), Synchronous Link DRAM (SLDRAM), Rambus Direct RAM (RDRAM), direct bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present application. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present application shall be subject to the appended claims.
Claims (10)
1. An anti-collision method for a ship unloader is characterized by comprising the following steps:
collecting a rotation angle and a pitching angle of an arm support of the ship unloader;
judging whether a material taking mechanism of the ship unloader enters a cabin or not according to the rotation angle and the pitching angle of the arm support: if so, determining that the movable range of the ship unloader is a first range and removing a space anti-collision system of the ship unloader; the first range is determined according to a hatch size of the hold; if not, determining that the movable range of the ship unloader is a second range; the second range is determined by a space collision avoidance system of the ship unloader.
2. The method of claim 1, wherein if so, the steps of determining that the range of motion of the ship unloader is a first range and deactivating a spatial collision avoidance system of the ship unloader comprise:
and when the distance between the material taking mechanism and the hatch is detected to be smaller than the preset distance, sending an alarm signal.
3. The anti-collision method for the ship unloader as claimed in claim 1, wherein before the step of judging whether the material taking mechanism of the ship unloader enters the cabin according to the rotation angle and the pitch angle of the arm support, the method comprises the following steps:
collecting the walking position of the ship unloader;
sending the walking position, the rotation angle and the pitching angle to a space anti-collision system of the ship unloader;
acquiring the second range; the second range is determined by a space collision avoidance system of the ship unloader according to the walking position, the turning angle and the pitching angle.
4. The anti-collision method for the ship unloader as claimed in claim 1, wherein before the step of judging whether the material taking mechanism of the ship unloader enters the cabin according to the rotation angle and the pitch angle of the arm support, the method further comprises:
and entering a manual mode when a space anti-collision system of the ship unloader is triggered and the ship unloader stops running.
5. The anti-collision method for the ship unloader as claimed in claim 1, wherein the step of judging whether the material taking mechanism of the ship unloader enters the cabin or not according to the rotation angle and the pitch angle of the arm support comprises the steps of:
and when the rotation angle of the ship unloader is within a preset working angle range and the pitch angle is smaller than a preset pitch angle, determining that the material taking mechanism of the ship unloader enters the cabin.
6. The anti-collision method for the ship unloader of any one of claims 1 to 5, comprising:
and when the material taking mechanism does not enter the cabin and the ship unloader enters the movable range of the adjacent ship unloader, triggering a space anti-collision system of the ship unloader to stop the operation of the ship unloader.
7. A ship unloader collision avoidance system, comprising:
the acquisition device is used for acquiring the rotation angle and the pitching angle of the arm support of the ship unloader;
the movable range determining device is used for judging whether the material taking mechanism of the ship unloader enters a cabin or not according to the rotation angle and the pitching angle of the arm support: if so, determining that the movable range of the ship unloader is a first range and removing a space anti-collision system of the ship unloader; the first range is determined according to a hatch size of the hold; if not, determining that the movable range of the ship unloader is a second range; the second range is determined by a space collision avoidance system of the ship unloader.
8. The ship unloader collision avoidance system of claim 7, wherein the collection device comprises:
the position acquisition module is used for acquiring the walking position of the ship unloader;
the rotation angle acquisition module is used for acquiring the rotation angle of the arm support;
and the pitching angle acquisition module is used for acquiring the pitching angle of the arm support.
9. A computer arrangement comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor implements the ship unloader collision avoidance method according to any one of claims 1 to 6 when executing the computer program.
10. A computer storage medium on which a computer program is stored, which program, when being executed by a processor, is adapted to carry out the ship unloader collision avoidance method according to any one of claims 1 to 6.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911180638.7A CN111003540B (en) | 2019-11-27 | 2019-11-27 | Ship unloaders anti-collision method, system, equipment and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911180638.7A CN111003540B (en) | 2019-11-27 | 2019-11-27 | Ship unloaders anti-collision method, system, equipment and storage medium |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111003540A true CN111003540A (en) | 2020-04-14 |
| CN111003540B CN111003540B (en) | 2021-08-06 |
Family
ID=70111985
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911180638.7A Active CN111003540B (en) | 2019-11-27 | 2019-11-27 | Ship unloaders anti-collision method, system, equipment and storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111003540B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111891761A (en) * | 2020-07-08 | 2020-11-06 | 神华黄骅港务有限责任公司 | Cabin loading control method and device for ship loader, computer equipment and storage medium |
| CN112374363A (en) * | 2020-11-11 | 2021-02-19 | 杭州华新机电工程有限公司 | Ship unloaders cart collision avoidance system |
| CN113682841A (en) * | 2021-09-06 | 2021-11-23 | 青岛港国际股份有限公司 | Ten-thousand-ton ship unloading operation method |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4174188A (en) * | 1976-06-02 | 1979-11-13 | Compagnie Francaise Des Petroles | Process and apparatus for transfer of cargo at sea |
| CN101723187A (en) * | 2008-10-23 | 2010-06-09 | 宝山钢铁股份有限公司 | Automatic collision avoidance system and method of port cargo ship unloader |
| CN201809075U (en) * | 2010-07-31 | 2011-04-27 | 卫华集团有限公司 | Bridge crane for loading and unloading of continental river dock |
| CN103738739A (en) * | 2014-01-08 | 2014-04-23 | 中国神华能源股份有限公司 | Method and system for preventing stackers or reclaimers from colliding each other |
| CN104555338A (en) * | 2015-01-07 | 2015-04-29 | 泰富重工制造有限公司 | Stock ground stacker-reclaimer collision avoidance control method and system thereof |
| CN105775794A (en) * | 2016-03-29 | 2016-07-20 | 中国神华能源股份有限公司 | Anti-collision system and method for ship loaders |
| JP2017171440A (en) * | 2016-03-23 | 2017-09-28 | Ｉｈｉ運搬機械株式会社 | Pneumatic unloader |
| CN209554386U (en) * | 2018-12-21 | 2019-10-29 | 广州发展燃料港口有限公司 | Ship loader cart walking mechanism anti-collision alarm system |
-
2019
- 2019-11-27 CN CN201911180638.7A patent/CN111003540B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4174188A (en) * | 1976-06-02 | 1979-11-13 | Compagnie Francaise Des Petroles | Process and apparatus for transfer of cargo at sea |
| CN101723187A (en) * | 2008-10-23 | 2010-06-09 | 宝山钢铁股份有限公司 | Automatic collision avoidance system and method of port cargo ship unloader |
| CN201809075U (en) * | 2010-07-31 | 2011-04-27 | 卫华集团有限公司 | Bridge crane for loading and unloading of continental river dock |
| CN103738739A (en) * | 2014-01-08 | 2014-04-23 | 中国神华能源股份有限公司 | Method and system for preventing stackers or reclaimers from colliding each other |
| CN104555338A (en) * | 2015-01-07 | 2015-04-29 | 泰富重工制造有限公司 | Stock ground stacker-reclaimer collision avoidance control method and system thereof |
| JP2017171440A (en) * | 2016-03-23 | 2017-09-28 | Ｉｈｉ運搬機械株式会社 | Pneumatic unloader |
| CN105775794A (en) * | 2016-03-29 | 2016-07-20 | 中国神华能源股份有限公司 | Anti-collision system and method for ship loaders |
| CN209554386U (en) * | 2018-12-21 | 2019-10-29 | 广州发展燃料港口有限公司 | Ship loader cart walking mechanism anti-collision alarm system |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111891761A (en) * | 2020-07-08 | 2020-11-06 | 神华黄骅港务有限责任公司 | Cabin loading control method and device for ship loader, computer equipment and storage medium |
| CN112374363A (en) * | 2020-11-11 | 2021-02-19 | 杭州华新机电工程有限公司 | Ship unloaders cart collision avoidance system |
| CN113682841A (en) * | 2021-09-06 | 2021-11-23 | 青岛港国际股份有限公司 | Ten-thousand-ton ship unloading operation method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN111003540B (en) | 2021-08-06 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111003540B (en) | Ship unloaders anti-collision method, system, equipment and storage medium | |
| US9278451B2 (en) | Robot system and method for controlling robot system | |
| CN111371662B (en) | Redundant automatic driving system and control method thereof | |
| US9637123B2 (en) | Method for operating a self-propelled mobile platform | |
| DE102014105722A1 (en) | Collision detection device and collision mitigation device | |
| US9999975B2 (en) | Method and system for operating and/or monitoring a machine, in particular a robot | |
| US20200099893A1 (en) | Anti-collision and motion control systems and methods | |
| DE102005049159A1 (en) | Monitoring method for vehicle surroundings, involves calculating occurrence of collision between vehicle and object, and transmitting to vehicle for adjusting at least one of its speed and its driving direction to prevent collision | |
| US20190091864A1 (en) | Robot system | |
| EP4196323A1 (en) | Safety systems and methods employed in robot operations | |
| EP4033140B1 (en) | Safety system and method with a safety system | |
| CN203768979U (en) | Grabber and anti-collision system for driving cab of grabber | |
| Grieser et al. | Assuring the safety of end-to-end learning-based autonomous driving through runtime monitoring | |
| CN110683491A (en) | Arm type aerial work platform safety function control method and control system | |
| CN117185145A (en) | Crane anti-collision method and system, electronic equipment and crane | |
| CN109976317B (en) | Robot safety control method, device, robot system and storage medium | |
| CN112731920A (en) | Method and device for controlling conveying equipment, conveying equipment and storage medium | |
| EP3894349B1 (en) | Container-loading system and method for monitoring operation therein | |
| CN105236282A (en) | Anti-collision method of crane boom | |
| LU500260B1 (en) | Self-propelled device for use in an industrial environment | |
| CN217994406U (en) | Safety control device and handling equipment | |
| CN109368472B (en) | Anti-clamping method and system for escalator and computer equipment | |
| CN117232501B (en) | Multi-sensor information fusion intelligent robot navigation device, method and medium | |
| US20230267752A1 (en) | Electronic device, information processing apparatus, method for inference, and program for inference | |
| CN114459480B (en) | Operation safety area generation method, path planning method and related devices |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP03 | Change of name, title or address | ||
| CP03 | Change of name, title or address |
Address after: No. 1075, Lingang East Road, gaolangang Economic Zone, Zhuhai, Guangdong 519050 Patentee after: Guoneng Zhuhai Port Co.,Ltd. Address before: 1075 Lingang East Road, Gaolan Port Economic Zone, Zhuhai City, Guangdong Province Patentee before: SHENHUA YUEDIAN ZHUHAI PORT COAL TERMINAL Co.,Ltd. |