CN113955416B - Shuttle multiple safety protection system - Google Patents
Shuttle multiple safety protection system Download PDFInfo
- Publication number
- CN113955416B CN113955416B CN202111102318.7A CN202111102318A CN113955416B CN 113955416 B CN113955416 B CN 113955416B CN 202111102318 A CN202111102318 A CN 202111102318A CN 113955416 B CN113955416 B CN 113955416B
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- Prior art keywords
- shuttle
- protection unit
- collision
- roadway
- control system
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- 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
- B65G35/00—Mechanical conveyors not otherwise provided for
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- 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
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
- B65G43/08—Control devices operated by article or material being fed, conveyed or discharged
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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
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Abstract
The invention discloses a shuttle multiple safety protection system, which is characterized in that reliable safety protection is carried out by triple measures of a tunnel peripheral protection unit, a shuttle active protection unit and a shuttle collision protection unit, wherein the tunnel peripheral protection unit comprises a door switch and a range grating device; the door switch is connected in series to the scram circuit of the shuttle, and the range grating device is connected with the electric signal of the shuttle control system. The shuttle active protection unit comprises a laser scanner which is arranged on the shuttle and is electrically connected with a shuttle control system. The shuttle collision protection unit comprises a collision prevention strip arranged on a protruding part of the shuttle, and a plurality of collision sensors connected with an scram circuit of the shuttle in series are arranged between the collision prevention strip and the shuttle. The multiple barriers constructed from outside to inside can effectively detect illegal invasion conditions, can also be used for preventing collisions in the rail, and can greatly reduce injuries after the barriers are bumped, so that the running safety of the shuttle is greatly improved.
Description
Technical Field
The invention relates to the field of cigarette processing and manufacturing, in particular to a shuttle multiple safety protection system.
Background
The shuttle is a common logistics conveying device for cigarette enterprises, stably and rapidly runs on a track fixed in a roadway, and a safety guard rail is arranged at the periphery of the roadway. However, since cargo needs to be transported to the platforms at two sides, the roadway guard rail is not completely closed, and openings are usually reserved at each platform.
Because the area occupied by the roadway of the shuttle car is long and narrow, people often pass through the roadway from the opening of the platform or the safety door of the protective fence in order to avoid long-distance detouring, and although the passing time can be reduced, the potential safety hazard exists.
Disclosure of Invention
In view of the above, the present invention aims to provide a shuttle multiple safety protection system to solve the problem of potential safety hazard caused by illegal entry into a roadway.
The technical scheme adopted by the invention is as follows:
a shuttle multiple safety protection system comprising: the device comprises a roadway periphery protection unit, a shuttle active protection unit and a shuttle collision protection unit;
the roadway peripheral protection unit comprises a door switch arranged on a safety door of the roadway protective fence and a range grating device arranged on one side of the roadway protective fence; the door switch is connected in series to an original scram circuit of the shuttle control system, and the range grating device is connected with an electric signal of the shuttle control system;
the shuttle active protection unit comprises a laser scanner arranged at the front part of the shuttle, the laser scanner is in electrical signal connection with a shuttle control system, and a measuring area of the laser scanner is set according to the shape of a roadway and the speed of the shuttle;
the shuttle collision protection unit comprises a collision prevention strip arranged on a protruding part at the front part of the shuttle, a plurality of collision sensors are arranged between the collision prevention strip and the shuttle, and the collision sensors are connected in series to an original scram circuit of a shuttle control system.
In at least one possible implementation manner, the ranging grating device comprises a plurality of laser rangefinders arranged on the guardrail wall at one side of the opening of the roadway guard rail and a plurality of reflecting plates arranged at the opposite side of the roadway guard rail, and the laser rangefinders and the corresponding reflecting plates form gratings in pairs.
In at least one possible implementation thereof, the shuttle control system is configured to: and judging whether an object illegally invades the roadway according to the laser ranging signals and by combining the current running state and the position of the shuttle.
In at least one possible implementation manner, the determining whether the object illegally invades the roadway according to the laser ranging signal and in combination with the current running state and the position of the shuttle car includes:
step S1, monitoring the running state of a shuttle, wherein the running state comprises running on a track or stopping at a goods conveying platform;
s2, setting and dynamically updating a standard ranging value in real time according to the running state;
and S3, continuously acquiring an actual ranging value, and triggering the shuttle to stop running and output an alarm signal if the actual ranging value is smaller than the current standard ranging value, wherein the stop running comprises a stop moving state and a stop conveying state.
In at least one possible implementation, the shuttle active protection unit further includes a laser scanner mounted at a rear of the shuttle.
In at least one possible implementation, the measurement area of the laser scanner is set as a three-stage rectangular area in front of the shuttle car, including: a high-speed deceleration zone, a low-speed deceleration zone and a forced stop zone.
In at least one possible implementation thereof, the shuttle control system is configured to: and regulating and controlling the running speed of the shuttle according to the running speed of the shuttle and the scanning result of the laser scanner in the high-speed deceleration zone or the low-speed deceleration zone.
In at least one possible implementation thereof, the shuttle control system is configured to: and triggering the shuttle to stop running according to the scanning result of the laser scanner in the forced stopping area.
In at least one possible implementation manner, the shuttle collision protection unit further comprises a collision strip and a collision sensor, wherein the collision strip and the collision sensor are arranged on a rear protruding part of the shuttle.
In at least one possible implementation, the bumper strip is made of a soft material.
The design concept of the invention is that reliable safety protection is carried out by triple measures of a roadway peripheral protection unit, a shuttle car active protection unit and a shuttle car collision protection unit, in particular, the roadway peripheral protection unit comprises a door switch arranged on a safety door of a roadway guard rail and a range grating device arranged on one side of the roadway guard rail; the door switch is connected in series to an original scram circuit of the shuttle control system, and the ranging grating device is connected with an electric signal of the shuttle control system. The shuttle active protection unit comprises a laser scanner which is arranged at the front part of the shuttle and is electrically connected with a shuttle control system, and the measuring area of the laser scanner is set according to the shape of a roadway and the speed of the shuttle. The shuttle collision protection unit comprises a collision prevention strip arranged on a front protruding part of the shuttle, a plurality of collision sensors are arranged between the collision prevention strip and the shuttle, and the collision sensors are connected in series into an original scram circuit of a shuttle control system. The multiple barriers constructed from outside to inside can effectively detect illegal invasion conditions, can also be used for preventing collisions in the rail, and can greatly reduce injuries after the barriers are bumped, so that the running safety of the shuttle is greatly improved.
Drawings
For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, the present invention will be further described with reference to the accompanying drawings, in which:
fig. 1 is a schematic diagram of a shuttle multiple safety protection system according to an embodiment of the present invention;
FIG. 2 is a flow chart of illegal intrusion detection through grating ranging according to an embodiment of the present invention;
fig. 3 is a schematic view of a scanning range of a laser scanner according to an embodiment of the present invention.
Detailed Description
Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative only and are not to be construed as limiting the invention.
The embodiment of the present invention provides a shuttle multiple safety protection system, as shown in fig. 1, may include: the device comprises three parts, namely a roadway peripheral protection unit, a shuttle active protection unit and a shuttle collision protection unit.
The peripheral protection unit of the roadway may include a door switch 4 (may, but not limited to, a limit switch) installed on the safety door 3 of the roadway guard rail 2, and the door switch 4 is connected in series to an original scram circuit of the shuttle control system. Thus, when the safety door 3 is opened in any case, the door switch 4 is opened, and the scram circuit is activated, so that the shuttle 1 is immediately stopped.
In addition, the peripheral protection unit of the roadway further comprises a ranging grating device arranged on one side of the roadway protective fence 2 for protection. In particular, the distance measuring grating device may comprise laser distance measuring instruments 7, 8, 9, 10 of the type DT50 mounted on the wall of the roadway guard rail 2 on the open side. Because the rail 14 of the shuttle car 1 is long, the common photoelectric switch is difficult to detect in a long-distance area, so the laser range finder is one of the preferred implementation schemes selected by the invention, and can detect data within a distance of at least ten meters. In actual operation, the reflection plates 71, 81, 91, 12 disposed on the opposite sides of the laser rangefinder 7, 8, 9, 10 and the roadway guard rail 2 form gratings 13 (indicated by dashed lines). If the distance value measured by each laser range finder changes, a signal can be transmitted into a PLC of the shuttle control system, and the current running state and the position of the shuttle 1 are combined to judge whether an object illegally invades a roadway.
Here, in connection with the distance of fig. 1, for example, when the shuttle 1 travels straight along the track 14, the standard ranging value is X 'or Y', and once the actual ranging value < X 'or < Y' is detected, it means that an object touches and blocks the grating 13, that is, an illegal intrusion condition exists, and at this time, the shuttle 1 can be triggered to stop running immediately and an alarm signal can be triggered to be output; for example, when the shuttle 1 is parked at the station B to load and unload cargoes (other stations A, C, D, E, F, G and H are similar, for example, according to the arrangement of the feeding end and the discharging end, one side of the tunnel is fed, and the other side is discharged, which is not described in detail herein), the standard ranging value of the laser range finder 7 or 8 is B ' (it can be understood that when the other stations load and unload cargoes, the standard ranging value is dynamically changed to the preset a ', C ', D ' or the like in the drawings, which is not described herein), if a person passes through the tunnel from the loading and unloading opening of the station a, the actual ranging value < B ' can trigger the shuttle 1 to alarm immediately and stop running (the stop running herein may refer to stopping of the conveying chain on the shuttle 1 and forcing the shuttle 1 to reside at the station B). A laser ranging based safety protection control method as illustrated in fig. 2 is provided herein:
step S1, monitoring the running state of a shuttle, wherein the running state comprises running on a track or stopping at a goods conveying platform;
s2, setting and dynamically updating a standard ranging value in real time according to the running state;
and S3, continuously acquiring an actual ranging value, and triggering the shuttle to stop running and output an alarm signal if the actual ranging value is smaller than the current standard ranging value, wherein the stop running comprises a stop moving state and a stop conveying state.
Regarding the aforementioned shuttle active guard unit, a laser scanner 6 (for example, but not limited to, a laser scanner of model S300 Mini) installed at the front (and/or rear) of the shuttle 1 may be included, and a measurement area of the laser scanner 6 may be set as needed. As shown in fig. 3, generally, the scanning range of a laser scanner defaults to a fan shape, but is not suitable for use in a shuttle scene in which the present invention focuses. In order to enable the laser scanner to effectively exclude the roadway barrier 2 and scan only the inside of the roadway, the scanning area of the laser scanner 6 may be set to be rectangular in advance, specifically, may be set to be a three-stage rectangular area in front of the shuttle car 1, which may be understood as three safety distances set according to the traveling speed of the shuttle car 1. For example, the region 16 100cm in front to 220cm in front of the origin (characterizing the laser scanner on the shuttle 1) illustrated in fig. 3 may be set as a high-speed deceleration zone and configured with corresponding travel control logic: triggering a deceleration driving condition if an obstacle is detected to exist in the area 16 when the speed of the shuttle is 1 m/s; the region 17 50cm forward to 100cm forward of the origin may be set as a low-speed deceleration region, and corresponding travel control logic is configured: when the speed of the shuttle is 0.5 m/s, triggering a deceleration driving condition if an obstacle is detected to exist in the area 17; the area 18 within 50cm of the origin may be set as a forced stop zone and corresponding travel control logic configured to trigger the shuttle to stop moving upon detecting the presence of an obstacle within the area 18, regardless of the current speed of the shuttle.
Finally, regarding the aforementioned shuttle collision protection unit, the unit may include a crash bar 5 disposed on a protruding portion at the front (and/or rear) of the shuttle 1, and a plurality of collision sensors disposed between the crash bar 5 and the shuttle 1, where the collision sensors may be connected in series to an original emergency stop circuit of the shuttle control system, so that once an unexpected collision occurs, the operation of the shuttle 1 may be immediately triggered to avoid serious injury. Preferably, it is also added that the bumper strip 5 is preferably made of soft material such as rubber, so that damage is further minimized after a collision.
In summary, the design concept of the invention is that the reliable safety protection is performed by triple measures of the roadway peripheral protection unit, the shuttle active protection unit and the shuttle collision protection unit, specifically, the roadway peripheral protection unit comprises a door switch installed on a safety door of a roadway guard rail and a ranging grating device arranged on one side of the roadway guard rail; the door switch is connected in series to an original scram circuit of the shuttle control system, and the ranging grating device is connected with an electric signal of the shuttle control system. The shuttle active protection unit comprises a laser scanner which is arranged at the front part of the shuttle and is electrically connected with a shuttle control system, and the measuring area of the laser scanner is set according to the shape of a roadway and the speed of the shuttle. The shuttle collision protection unit comprises a collision prevention strip arranged on a front protruding part of the shuttle, a plurality of collision sensors are arranged between the collision prevention strip and the shuttle, and the collision sensors are connected in series into an original scram circuit of a shuttle control system. The multiple barriers constructed from outside to inside can effectively detect illegal invasion conditions, can also be used for preventing collisions in the rail, and can greatly reduce injuries after the barriers are bumped, so that the running safety of the shuttle is greatly improved.
In the embodiments of the present invention, "at least one" means one or more, and "a plurality" means two or more. "and/or", describes an association relation of association objects, and indicates that there may be three kinds of relations, for example, a and/or B, and may indicate that a alone exists, a and B together, and B alone exists. Wherein A, B may be singular or plural. The character "/" generally indicates that the context-dependent object is an "or" relationship. "at least one of the following" and the like means any combination of these items, including any combination of single or plural items. For example, at least one of a, b and c may represent: a, b, c, a and b, a and c, b and c or a and b and c, wherein a, b and c can be single or multiple.
The construction, features and effects of the present invention are described in detail according to the embodiments shown in the drawings, but the above is only a preferred embodiment of the present invention, and it should be understood that the technical features of the above embodiment and the preferred mode thereof can be reasonably combined and matched into various equivalent schemes by those skilled in the art without departing from or changing the design concept and technical effects of the present invention; therefore, the invention is not limited to the embodiments shown in the drawings, but is intended to be within the scope of the invention as long as changes made in the concept of the invention or modifications to the equivalent embodiments do not depart from the spirit of the invention as covered by the specification and drawings.
Claims (7)
1. A shuttle multiple safety protection system, comprising: the device comprises a roadway periphery protection unit, a shuttle active protection unit and a shuttle collision protection unit;
the roadway peripheral protection unit comprises a door switch arranged on a safety door of the roadway protective fence and a range grating device arranged on one side of the roadway protective fence; the door switch is connected in series to an original scram circuit of the shuttle control system, and the range grating device is connected with an electric signal of the shuttle control system;
the shuttle active protection unit comprises a laser scanner arranged at the front part of the shuttle, the laser scanner is in electrical signal connection with a shuttle control system, and a measuring area of the laser scanner is set according to the shape of a roadway and the speed of the shuttle;
the shuttle collision protection unit comprises a collision prevention strip arranged on a front protruding part of the shuttle, and a plurality of collision sensors are arranged between the collision prevention strip and the shuttle and connected in series to an original scram circuit of a shuttle control system;
the range grating device comprises a plurality of laser range finders arranged on the guardrail wall at one side of the opening of the roadway protective fence and a plurality of reflecting plates arranged at the opposite side of the roadway protective fence, wherein the laser range finders and the reflecting plates corresponding to the laser range finders form gratings in pairs;
the shuttle control system is configured to: according to the laser ranging signal and combining the current running state and the position of the shuttle, judging whether an object illegally invades the roadway or not, comprising the following steps:
step S1, monitoring the running state of a shuttle, wherein the running state comprises running on a track or stopping at a goods conveying platform;
s2, setting and dynamically updating a standard ranging value in real time according to the running state;
and S3, continuously acquiring an actual ranging value, and triggering the shuttle to stop running and output an alarm signal if the actual ranging value is smaller than the current standard ranging value, wherein the stop running comprises a stop moving state and a stop conveying state.
2. The shuttle multiple safety protection system according to claim 1, wherein the shuttle active protection unit further comprises a laser scanner mounted at a rear portion of the shuttle.
3. The shuttle multiple safety protection system according to claim 1, wherein the measuring area of the laser scanner is set as a three-stage rectangular area in front of the shuttle vehicle, comprising: a high-speed deceleration zone, a low-speed deceleration zone and a forced stop zone.
4. The shuttle multiple safety protection system according to claim 3, wherein the shuttle control system is configured to: and regulating and controlling the running speed of the shuttle according to the running speed of the shuttle and the scanning result of the laser scanner in the high-speed deceleration zone or the low-speed deceleration zone.
5. The shuttle multiple safety protection system according to claim 3, wherein the shuttle control system is configured to: and triggering the shuttle to stop running according to the scanning result of the laser scanner in the forced stopping area.
6. The multiple safety protection system according to any one of claims 1 to 5, wherein the shuttle collision protection unit further comprises a bumper strip and a collision sensor provided on a rear protruding portion of the shuttle.
7. The shuttle multiple safety protection system according to any one of claims 1-5, wherein the bumper strip is a flexible material.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111102318.7A CN113955416B (en) | 2021-09-19 | 2021-09-19 | Shuttle multiple safety protection system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111102318.7A CN113955416B (en) | 2021-09-19 | 2021-09-19 | Shuttle multiple safety protection system |
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| Publication Number | Publication Date |
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| CN113955416A CN113955416A (en) | 2022-01-21 |
| CN113955416B true CN113955416B (en) | 2023-05-16 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202111102318.7A Active CN113955416B (en) | 2021-09-19 | 2021-09-19 | Shuttle multiple safety protection system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114684521B (en) * | 2022-04-12 | 2024-01-12 | 北京京东乾石科技有限公司 | Three-dimensional goods shelf system and protection device |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH10161745A (en) * | 1996-11-29 | 1998-06-19 | Murata Mach Ltd | Controller of unmanned running vehicle |
| US20110241845A1 (en) * | 2010-04-06 | 2011-10-06 | Sullivan Robert P | Automated Material Handling System with Identification Features |
| CN202518715U (en) * | 2012-03-27 | 2012-11-07 | 龙岩烟草工业有限责任公司 | Safety protection device for shuttle |
| CN103832759B (en) * | 2014-03-11 | 2016-03-23 | 四川烟草工业有限责任公司 | Combination bar-code identification and laser ranging shuttle localizing faults diagnostic system and method |
| CN103935365B (en) * | 2014-05-14 | 2016-04-13 | 袁培江 | A kind of novel material carrying automatic guide vehicle intelligent anti-collision system |
| CN206287964U (en) * | 2016-12-20 | 2017-06-30 | 山东科技大学 | Shuttle safety system |
| JP6963908B2 (en) * | 2017-05-09 | 2021-11-10 | 株式会社ダイフク | Goods carrier |
| CN111273657A (en) * | 2020-01-10 | 2020-06-12 | 江苏森蓝智能系统有限公司 | Automatic laser positioning mode of RGV (gas insulated switchgear) trolley by adopting frequency converter |
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