CN112591615B - Anti-collision safety system for copper electrolysis full-automatic traveling and use method thereof - Google Patents
Anti-collision safety system for copper electrolysis full-automatic traveling and use method thereof Download PDFInfo
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- CN112591615B CN112591615B CN202011433825.4A CN202011433825A CN112591615B CN 112591615 B CN112591615 B CN 112591615B CN 202011433825 A CN202011433825 A CN 202011433825A CN 112591615 B CN112591615 B CN 112591615B
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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
- 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
- B66C15/00—Safety gear
- B66C15/06—Arrangements or use of warning devices
- B66C15/065—Arrangements or use of warning devices electrical
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P10/00—Technologies related to metal processing
- Y02P10/20—Recycling
Abstract
The invention discloses an anti-collision safety system for copper electrolysis full-automatic traveling and a use method thereof, wherein the system comprises a special crane controller, an absolute positioning system, a laser ranging system, a wireless communication module, an audible and visual alarm, a display, a frequency converter and a driving motor, wherein the special crane controller is arranged on a special crane; the system also carries out real-time data interaction with other equipment through the wireless communication module, analyzes the obtained information to obtain the position information of the special crane, can judge whether the original control system is normal, and can replace to send a control instruction to control the special crane to operate when the original system fails, thereby realizing the real-time safety protection of the copper electrolysis full-automatic driving.
Description
Technical Field
The invention belongs to the technical field of copper electrolysis automation equipment, and particularly relates to an anti-collision safety system for copper electrolysis full-automatic traveling and a using method thereof.
Background
Among the non-ferrous metals, the electrolytic or electrodeposition process of copper, lead, zinc and nickel is based on the electrochemical principle. Electrolytic refining is the main means in non-ferrous metal smelting, especially copper smelting. A special travelling crane for copper electrolysis, which is also called as a special crane for electrolytic copper, is required to be used in the copper electrolysis production process, and is special hoisting equipment designed according to the special use requirement of the copper electrolysis production. The copper electrolysis full-automatic traveling crane is a full-automatic running hoisting device designed based on an absolute positioning system, and can automatically and efficiently carry out copper electrolysis production operation under the condition of no personnel operation or a small amount of personnel operation.
In the modern production process, along with the continuous improvement of the production scale of copper electrolysis, the field production is difficult to guarantee only by depending on a single copper electrolysis full-automatic traveling crane, a plurality of copper electrolysis full-automatic traveling cranes and other various equipment are required to operate together, the safety during the operation is solved, and the requirements of stability and high efficiency of production operation are urgent.
Disclosure of Invention
Aiming at the defects, the invention discloses an anti-collision safety system for copper electrolysis full-automatic traveling and a using method thereof, which realize real-time safety protection of the copper electrolysis full-automatic traveling in the copper electrolysis production process.
The invention is realized by adopting the following technical scheme:
an anti-collision safety system for copper electrolysis full-automatic traveling comprises a special crane controller, an absolute positioning system, a laser ranging system, a wireless communication module, an audible and visual alarm, a display, a frequency converter and a driving motor, wherein the special crane controller, the absolute positioning system, the laser ranging system, the wireless communication module, the audible and visual alarm, the display, the frequency converter and the driving motor are arranged on a special crane; the special crane controller comprises a first data receiving module, a first central processing unit, a first memory, a first data sending module, a second data receiving module, a second central processing unit, a second memory and a second data sending module; the first data receiving module, the first central processing unit and the first data sending module are sequentially connected, and the first memory is connected with the first central processing unit; the first data receiving module is respectively connected with the absolute positioning system, the laser ranging system and the limiting system, and is used for receiving data information from the absolute positioning system, the laser ranging system and the limiting system and transmitting the data information to the first central processing unit; the first central processing unit receives the data information from the first data receiving module, processes and judges the position state of the special crane, transmits a control instruction or data information to the first data sending module, and stores the data information into the first memory; the first data sending module is respectively connected with the audible and visual alarm, the display and the frequency converter, the frequency converter is connected with the driving motor, the first data sending module sends a control command or data information from the first central processing unit to the audible and visual alarm, the display and the frequency converter for prompting the audible and visual alarm to give an alarm or sending the data information or alarm information to the display to display, the frequency converter converts the control command into corresponding power according to the received control command and outputs the power to the driving motor, and the operation of the special crane is controlled by controlling the operation speed of the driving motor;
the wireless communication module is connected with a second data receiving module, the second data receiving module is connected with a second central processing unit, the second central processing unit is respectively connected with a first storage, a second storage and a second data sending module, and the second data sending module is respectively connected with the wireless communication module, the audible and visual alarm, the display and the frequency converter; the wireless communication module is used for data interaction with other special cranes or monitoring equipment; the second central processing unit receives the position information of other special cranes through the second receiving module, processes the position information to obtain the position information of the special crane, stores the data information into the second storage, compares and judges the position information with the position information in the first storage, detects whether the first data receiving module, the first central processing unit, the first storage and the first data sending module normally operate or not, and replaces to send a control instruction to control the operation of the special crane when the first data receiving module, the first central processing unit, the first storage and the first data sending module have faults.
Furthermore, the anti-collision safety system for the copper electrolysis full-automatic traveling crane is further provided with a limiting system, the limiting system is a proximity sensor and comprises signal transmitters of four proximity sensors and a signal receiver of one proximity sensor, the signal transmitters of the four proximity sensors are respectively located at the entrance positions of a deceleration zone and a parking zone at two ends of a track, the signal receiver is fixedly installed on the special crane and is connected with the first data receiving module, when the special crane moves to the corresponding position, the signal receiver receives the proximity signal and sends the proximity signal to the first data receiving module and the first central processing unit, and then the first central processing unit processes data and sends a deceleration command and a parking command.
Furthermore, the wireless communication module performs data interaction in an ethernet communication mode. The data transmission speed can be increased by adopting a wireless Ethernet communication mode, and the real-time information data interaction among all the devices is facilitated.
Furthermore, the absolute positioning system, the laser ranging system, the limiting system and the wireless communication module are respectively connected with a debugging module for fault detection, and the debugging module is connected with the first data receiving module and sends detection data to the first data receiving module and the first central processing unit.
Furthermore, the anti-collision safety system for the copper electrolysis full-automatic traveling crane is further provided with a central control center, the central control center is connected with the wireless communication module in a wireless mode and used for receiving position data information of each special crane to monitor, the central control center is provided with an emergency stop system, and if an emergency occurs, an operator can cut off a power supply of the special crane through the emergency stop system to force the special crane to stop working.
Furthermore, the driving motor is provided with a speed measuring encoder, the speed measuring encoder is connected with the first data receiving module, and the speed measuring encoder is used for monitoring the running speed of the driving motor and feeding the running speed back to the first central processing unit. The running speed of the driving motor obtained through real-time monitoring is fed back to the first central processing unit, and the running speed of the driving motor can be accurately adjusted through the frequency converter.
The use method of the anti-collision safety system for the copper electrolysis full-automatic traveling comprises the following steps:
(1) after the system is started, whether the wireless communication module, the absolute positioning system, the laser ranging system and/or the limiting system are normal or not is detected in sequence, if the system is in fault, an audible and visual alarm is used for alarming, and after the system is detected to be normal, the wireless communication module, the absolute positioning system, the laser ranging system and/or the limiting system are started and a special crane is started for working;
(2) the first central processing unit receives data information of the absolute positioning system through the first data receiving module, sends an instruction to the frequency converter through the first data sending module, the frequency converter converts the instruction into corresponding power and outputs the power to the driving motor, and the special crane is controlled to run by controlling the running speed of the driving motor, so that the special crane runs to a corresponding working position according to a preset rule; when the absolute positioning system is in fault, the first central processing unit sends an instruction to the audible and visual alarm to give an alarm, and the special crane is switched to manual operation after the running speed of the special crane is reduced to 5% of the full-speed state, or the special crane is directly stopped;
(3) the first central processing unit receives data information of the laser ranging system through the first data receiving module, when the laser ranging system detects that the distance from the laser ranging system to another special crane is 20 meters, the first central processing unit sends an instruction to the frequency converter through the first data sending module to reduce the travelling speed of the special crane until the special crane stops at a position 5 meters away from the other special crane, and when the laser ranging system detects that the distance from the laser ranging system to the other special crane exceeds 20 meters, the special crane is restarted to run;
(4) when the special crane finishes working, the special crane automatically moves to the deceleration areas at the two ends of the track and then stops in the parking area, when the special crane enters the deceleration position, the signal receiver of the proximity sensor receives a proximity signal and sends the proximity signal to the first central processing unit, then the first central processing unit controls the special crane to decelerate, when the special crane enters the parking space, the signal receiver of the proximity sensor receives the proximity signal and sends the proximity signal to the first central processing unit, and then the first central processing unit controls the special crane to park; when the position of the received proximity sensor signal is inconsistent with the data information of the absolute positioning system, judging that a fault exists, and sending an instruction to an audible and visual alarm by the first central processing unit for alarm prompt;
(5) in the running process of the special crane, the second central processing unit extracts the real-time data information in the first memory, the data is transmitted to other special cranes or monitoring equipment through a second data transmitter and a wireless communication module, meanwhile, real-time data information from other special cranes is received through the wireless communication module and the second data receiver, then the second central processing unit analyzes and processes the real-time information of other special cranes to obtain the position information of the special crane and the distance information between the special crane and other special cranes, then comparing with the real-time information of the special crane in the first memory, detecting whether the first data receiving module, the first central processing unit, the first memory and the first data sending module run normally, and if the fault occurs, sending an instruction to the audible and visual alarm for alarm prompt, and simultaneously replacing the first central processing unit to send the instruction to control the operation of the special crane.
Compared with the prior art, the technical scheme has the following beneficial effects:
the invention has simple result and convenient operation, monitors the running state of the special crane for copper electrolysis in real time by utilizing an absolute positioning system, a laser ranging system and a limiting system, automatically adjusts the running speed by a special crane controller to prevent collision with other equipment, simultaneously timely acquires the information of other special cranes or equipment in a working area in a wireless Ethernet communication mode to judge the real-time state of a production field of a copper electrolysis workshop, combines the position information of the special crane for copper electrolysis with the real-time state of the production field of the copper electrolysis workshop to judge the anti-collision safe working state of the special crane for copper electrolysis, thereby realizing the real-time safe protection of the special crane for copper electrolysis during the automatic running, greatly lightening the working intensity of a running operator and ground inspection personnel, improving the safe management of the running of the special crane for copper electrolysis, is beneficial to improving the production efficiency.
Drawings
Fig. 1 is a schematic connection diagram of the anti-collision safety system for copper electrolysis full-automatic traveling in the embodiment 1.
Fig. 2 is a flow chart of the commissioning mode of the anti-collision safety system for copper electrolysis fully-automatic traveling according to the embodiment 1.
Fig. 3 is a schematic connection diagram of the anti-collision safety system for the copper electrolysis full-automatic traveling vehicle in the embodiment 2.
Detailed Description
The invention is further illustrated by the following examples, which are not to be construed as limiting the invention thereto. The specific experimental conditions and methods not indicated in the following examples are generally conventional means well known to those skilled in the art.
Example 1:
an anti-collision safety system for copper electrolysis full-automatic traveling comprises a special crane controller, an absolute positioning system, a laser ranging system, a wireless communication module, an audible and visual alarm, a display, a frequency converter and a driving motor, wherein the special crane controller, the absolute positioning system, the laser ranging system, the wireless communication module, the audible and visual alarm, the display, the frequency converter and the driving motor are arranged on a special crane; the special crane controller comprises a first data receiving module, a first central processing unit, a first memory, a first data sending module, a second data receiving module, a second central processing unit, a second memory and a second data sending module; the first data receiving module, the first central processing unit and the first data sending module are sequentially connected, and the first storage is connected with the first central processing unit; the first data receiving module is respectively connected with the absolute positioning system, the laser ranging system and the limiting system, and is used for receiving data information from the absolute positioning system, the laser ranging system and the limiting system and transmitting the data information to the first central processing unit; the first central processing unit receives the data information from the first data receiving module, processes and judges the position state of the special crane, transmits a control instruction or data information to the first data sending module, and stores the data information into the first memory; the first data sending module is respectively connected with the audible and visual alarm, the display and the frequency converter, the frequency converter is connected with the driving motor, the first data sending module sends a control instruction or data information from the first central processing unit to the audible and visual alarm, the display and the frequency converter for prompting the audible and visual alarm to give an alarm or sending the data information to the display to display, the frequency converter converts the control instruction into corresponding power according to the received control instruction and outputs the power to the driving motor, and the running speed of the special crane is controlled by controlling the running speed of the driving motor;
the wireless communication module is connected with a second data receiving module, the second data receiving module is connected with a second central processing unit, the second central processing unit is respectively connected with a first storage, a second storage and a second data sending module, and the second data sending module is respectively connected with the wireless communication module, the audible and visual alarm, the display and the frequency converter; the wireless communication module is used for data interaction with other special cranes or monitoring equipment; the second central processing unit receives the position information of other special cranes through the second receiving module, processes the position information to obtain the position information of the special crane, stores the data information into the second storage, compares and judges the position information with the position information in the first storage, detects whether the first data receiving module, the first central processing unit, the first storage and the first data sending module normally operate, and replaces to send a control instruction to control the operation of the special crane when the first data receiving module, the first central processing unit, the first storage and the first data sending module have faults;
the anti-collision safety system for the copper electrolysis full-automatic travelling crane is further provided with a limiting system, wherein the limiting system is a proximity sensor and comprises signal transmitters of four proximity sensors and a signal receiver of one proximity sensor, the signal transmitters of the four proximity sensors are respectively positioned at the entrance positions of a deceleration zone and a parking zone at two ends of a track, the signal receiver is fixedly installed on the special crane and is connected with the first data receiving module, when the special crane moves to the corresponding position, the signal receiver reaches the proximity signal and sends the proximity signal to the first data receiving module and the first central processing unit, and then the first central processing unit processes data and sends a deceleration command and a parking command; the wireless communication module adopts an Ethernet communication mode to carry out data interaction; the absolute positioning system, the laser ranging system, the limiting system and the wireless communication module are respectively connected with a debugging module for fault detection, and the debugging module is connected with the first data receiving module and sends detection data to the first data receiving module and the first central processing unit.
Absolute positioning system can adopt GPS, big dipper or ultrasonic positioning system, laser ranging system establishes based on laser range finder, proximity sensor that spacing system used can adopt photoelectric type sensor or magnetic force type sensor, first central processing unit and second central processing unit can adopt current 32 or 64 treater chips of position.
Assuming that 3 special cranes A, B, C are arranged on the working track, each special crane is provided with the anti-collision safety system for copper electrolysis full-automatic traveling, the use method of the system on the special crane B comprises the following steps:
(1) the special crane B is positioned between the special crane A and the special crane C to work, after a system of the special crane B is started, as shown in fig. 2, the effective distance of the laser ranging system is set to be 250 meters, whether the wireless communication module, the absolute positioning system, the laser ranging system and the limiting system are normal or not is detected in sequence through the debugging module, if a fault occurs, the system such as the absolute positioning system is closed to prevent the special crane B from being started, an alarm is given through an audible and visual alarm, and after the fault is detected to be normal, the wireless communication module, the absolute positioning system, the laser ranging system and the limiting system are started and the special crane B is started to work;
(2) the first central processing unit receives data information of the absolute positioning system through the first data receiving module, sends an instruction to the frequency converter through the first data sending module, the frequency converter converts the instruction into corresponding power and outputs the power to the driving motor, and the special crane B is controlled to run by controlling the running speed of the driving motor, so that the special crane B runs to a corresponding working position according to a preset rule; when the absolute positioning system is in fault, the first central processing unit sends an instruction to the audible and visual alarm to give an alarm, and the special crane B is switched to manual operation after the running speed of the special crane B is reduced to 5% of the full-speed state, or the special crane B is directly stopped;
(3) the first central processing unit receives data information of the laser ranging system through the first data receiving module, namely the distance between the special crane B and the special crane A and the distance between the special crane B and the special crane C; when the laser ranging system detects that the distance from the front vehicle A is 20 meters, the first central controller sends an instruction to the frequency converter through the first data sending module to reduce the travelling speed of the special crane B until the special crane B stops at a position 5 meters away from the special crane A, the system on the rear vehicle C executes the same operation to enable the special crane C to stop at a position 5 meters away from the special crane B, when the laser ranging system detects that the distance from the special crane A exceeds 20 meters, the special crane B is restarted to run, and the special crane C starts to restart after the special crane B executes the same operation and exceeds 20 meters;
(4) when the special crane B finishes working, the special crane B automatically moves to the deceleration areas at the two ends of the track and then stops in the parking area, when the special crane enters the deceleration position, a signal receiver of the proximity sensor receives a proximity signal and sends the proximity signal to a first central processing unit, then the first central processing unit controls the special crane to decelerate, when the special crane enters the parking space, the signal receiver of the proximity sensor receives the proximity signal and sends the proximity signal to the first central processing unit, and then the first central processing unit controls the special crane to park; when the position of the received proximity sensor signal is inconsistent with the data information of the absolute positioning system, judging that a fault exists, and sending an instruction to an audible and visual alarm by the first central processing unit for alarm prompt;
(5) during the operation of the special crane B, the second CPU extracts the real-time data information in the first memory, transmits the real-time data information to the special crane A and the special crane C through the second data transmitter and the wireless communication module, and receives the real-time data information from the special crane A and the special crane C through the wireless communication module and the second data receiver, wherein the real-time data information comprises the absolute positioning system information of the special crane A and the detected distance to the special crane B, the absolute positioning information of the special crane C and the detected distance to the special crane B, then the second CPU analyzes and processes the real-time information of other special cranes to obtain the position information of the special crane B and the distance information to other special cranes, then compares the position information with the real-time information of the special crane B in the first memory, if the difference value of the two distances is within 1 meter error, the relative system equipment such as the absolute positioning system, the laser ranging system, the first central processing unit and the like can be considered to normally work, if the error is exceeded, the system is considered to have a fault and timely send an instruction to the audible and visual alarm for alarm prompt, if the relative system equipment such as the absolute positioning system, the laser ranging system, the first central processing unit and the like has no data signals, switching can be carried out, and the second central processing unit replaces the first central processing unit to send the instruction to control the operation of the special crane.
Example 2:
the difference from the embodiment 1 is that, as shown in fig. 3, the anti-collision safety system for copper electrolysis full-automatic traveling is further provided with a central control center, the central control center is wirelessly connected with the wireless communication module and is used for receiving and monitoring position data information of each special crane, the central control center is provided with an emergency stop system, and in case of emergency, an operator can cut off a power supply of the special crane through the emergency stop system to force the special crane to stop working; the driving motor is provided with a speed measuring encoder, the speed measuring encoder is connected with the first data receiving module, and the speed measuring encoder is used for monitoring the running speed of the driving motor and feeding the running speed back to the first central processing unit, so that the running speed of the driving motor can be accurately adjusted through the frequency converter.
The use method of the anti-collision safety system for the copper electrolysis full-automatic traveling crane is the same as that of the anti-collision safety system for the copper electrolysis full-automatic traveling crane in the embodiment 1.
Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.
Claims (5)
1. The utility model provides an anticollision safety coefficient that is used for full-automatic driving of copper electrolysis which characterized in that: the system comprises a special crane controller, an absolute positioning system, a laser ranging system, a wireless communication module, an audible and visual alarm, a display, a frequency converter and a driving motor, wherein the special crane controller, the absolute positioning system, the laser ranging system, the wireless communication module, the audible and visual alarm, the display, the frequency converter and the driving motor are arranged on a special crane; the special crane controller comprises a first data receiving module, a first central processing unit, a first memory, a first data sending module, a second data receiving module, a second central processing unit, a second memory and a second data sending module; the first data receiving module, the first central processing unit and the first data sending module are sequentially connected, and the first memory is connected with the first central processing unit; the first data receiving module is respectively connected with the absolute positioning system, the laser ranging system and the limiting system, and is used for receiving data information from the absolute positioning system, the laser ranging system and the limiting system and transmitting the data information to the first central processing unit; the first central processing unit receives the data information from the first data receiving module, processes and judges the position state of the special crane, transmits a control instruction or data information to the first data sending module, and stores the data information into the first memory; the first data sending module is respectively connected with the audible and visual alarm, the display and the frequency converter, the frequency converter is connected with the driving motor, the first data sending module sends a control instruction or data information from the first central processing unit to the audible and visual alarm, the display and the frequency converter for prompting the audible and visual alarm to give an alarm or sending the data information to the display to display, the frequency converter converts the control instruction into corresponding power according to the received control instruction and outputs the power to the driving motor, and the running speed of the special crane is controlled by controlling the running speed of the driving motor;
the wireless communication module is connected with a second data receiving module, the second data receiving module is connected with a second central processing unit, the second central processing unit is respectively connected with a first storage, a second storage and a second data sending module, and the second data sending module is respectively connected with the wireless communication module, the audible and visual alarm, the display and the frequency converter; the wireless communication module is used for data interaction with other special cranes or monitoring equipment; the second central processing unit receives the position information of other special cranes through the second receiving module, processes the position information to obtain the position information of the special crane, stores the data information into the second storage, compares and judges the position information with the position information in the first storage, detects whether the first data receiving module, the first central processing unit, the first storage and the first data sending module normally operate, and replaces to send a control instruction to control the operation of the special crane when the first data receiving module, the first central processing unit, the first storage and the first data sending module have faults;
the anti-collision safety system for the copper electrolysis full-automatic travelling crane is further provided with a limiting system, wherein the limiting system is a proximity sensor and comprises signal transmitters of four proximity sensors and a signal receiver of one proximity sensor, the signal transmitters of the four proximity sensors are respectively positioned at the entrance positions of a deceleration zone and a parking zone at two ends of a track, the signal receiver is fixedly installed on the special crane and is connected with the first data receiving module, when the special crane moves to the corresponding position, the signal receiver reaches the proximity signal and sends the proximity signal to the first data receiving module and the first central processing unit, and then the first central processing unit processes data and sends a deceleration command and a parking command;
the driving motor is provided with a speed measuring encoder, the speed measuring encoder is connected with the first data receiving module, and the speed measuring encoder is used for monitoring the running speed of the driving motor and feeding back to the first central processing unit.
2. The anti-collision safety system for copper electrolysis full-automatic traveling crane according to claim 1, characterized in that: the wireless communication module adopts an Ethernet communication mode to carry out data interaction.
3. The anti-collision safety system for copper electrolysis full-automatic traveling crane according to claim 1, characterized in that: the absolute positioning system, the laser ranging system, the limiting system and the wireless communication module are respectively connected with a debugging module for fault detection, and the debugging module is connected with the first data receiving module and sends detection data to the first data receiving module and the first central processing unit.
4. The anti-collision safety system for copper electrolysis full-automatic traveling crane according to claim 1, characterized in that: the anti-collision safety system for the copper electrolysis full-automatic traveling crane is further provided with a central control center, the central control center is connected with the wireless communication module in a wireless mode and used for receiving position data information of each special crane to monitor, and the central control center is provided with an emergency stop system.
5. The use method of the anti-collision safety system for the copper electrolysis full-automatic traveling crane according to any one of claims 1 to 4 is characterized in that: the method comprises the following steps:
(1) after the system is started, whether the wireless communication module, the absolute positioning system, the laser ranging system and/or the limiting system are normal or not is detected in sequence, if the system is in fault, an audible and visual alarm is used for alarming, and after the system is detected to be normal, the wireless communication module, the absolute positioning system, the laser ranging system and/or the limiting system are started and a special crane is started for working;
(2) the first central processing unit receives data information of the absolute positioning system through the first data receiving module, sends an instruction to the frequency converter through the first data sending module, the frequency converter converts the instruction into corresponding power and outputs the power to the driving motor, and the special crane is controlled to run by controlling the running speed of the driving motor, so that the special crane runs to a corresponding working position according to a preset rule; when the absolute positioning system is in fault, the first central processing unit sends an instruction to the audible and visual alarm to give an alarm, and the special crane is switched to manual operation after the running speed of the special crane is reduced to 5% of the full-speed state, or the special crane is directly stopped;
(3) the first central processing unit receives data information of the laser ranging system through the first data receiving module, when the laser ranging system detects that the distance from the laser ranging system to another special crane is 20 meters, the first central processing unit sends an instruction to the frequency converter through the first data sending module to reduce the travelling speed of the special crane until the special crane stops at a position 5 meters away from the other special crane, and when the laser ranging system detects that the distance from the laser ranging system to the other special crane exceeds 20 meters, the special crane is restarted to run;
(4) when the special crane finishes working, the special crane automatically moves to the deceleration areas at the two ends of the track and then stops in the parking area, when the special crane enters the deceleration position, the signal receiver of the proximity sensor receives a proximity signal and sends the proximity signal to the first central processing unit, then the first central processing unit controls the special crane to decelerate, when the special crane enters the parking space, the signal receiver of the proximity sensor receives the proximity signal and sends the proximity signal to the first central processing unit, and then the first central processing unit controls the special crane to park; when the position of the received proximity sensor signal is inconsistent with the data information of the absolute positioning system, judging that a fault exists, and sending an instruction to an audible and visual alarm by the first central processing unit for alarm prompt;
(5) in the running process of the special crane, the second central processing unit extracts the real-time data information in the first memory, the data is transmitted to other special cranes or monitoring equipment through a second data transmitter and a wireless communication module, meanwhile, real-time data information from other special cranes is received through the wireless communication module and the second data receiver, then the second central processing unit analyzes and processes the real-time information of other special cranes to obtain the position information of the special crane and the distance information between the special crane and other special cranes, then comparing with the real-time information of the special crane in the first memory, detecting whether the first data receiving module, the first central processing unit, the first memory and the first data sending module run normally, and if the fault occurs, sending an instruction to the audible and visual alarm for alarm prompt, and simultaneously replacing the first central processing unit to send the instruction to control the operation of the special crane.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011433825.4A CN112591615B (en) | 2020-12-10 | 2020-12-10 | Anti-collision safety system for copper electrolysis full-automatic traveling and use method thereof |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202011433825.4A CN112591615B (en) | 2020-12-10 | 2020-12-10 | Anti-collision safety system for copper electrolysis full-automatic traveling and use method thereof |
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| Publication Number | Publication Date |
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