CN115285187A - Unmanned control system and method for monorail crane - Google Patents
Unmanned control system and method for monorail crane Download PDFInfo
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Abstract
The invention provides a monorail crane unmanned control system and method, belonging to the technical field of monorail crane unmanned control; the technical problem to be solved is as follows: the improvement of a hardware structure and a control method of the monorail crane unmanned control system is provided; the technical scheme for solving the technical problem is as follows: the vehicle-mounted controller is connected with the laser radar, the laser ranging sensor, the inclination angle sensor, the network switch and the wireless communication module through wires, and the network switch is connected with the network camera through wires; the vehicle-mounted controller is connected with the monorail crane electric control box through a CAN bus; the ultra-wideband positioning module is in wireless connection with an ultra-wideband positioning base station arranged in a roadway through wireless electromagnetic waves; the ultra-wideband positioning base station is connected with the wireless communication base station through a wire; the wireless communication module is in wireless connection with the wireless communication base station through wireless electromagnetic waves; the wireless communication base station is connected with the data exchanger through a lead; the invention is applied to unmanned driving of the underground monorail crane.
Description
Technical Field
The invention discloses a monorail crane unmanned control system and method, and belongs to the technical field of monorail crane unmanned control.
Background
The construction and application of intelligent coal mines are important means for promoting the technology updating and the industry transformation and upgrading of the coal industry based on emerging technologies such as artificial intelligence, robots, the Internet of things, big data and the like in recent years, and the purposes of ' safety under less people ' and ' safety under no people ' in coal mine operation are achieved through robot change ' by steadily advancing from manual and mechanical control to automatic, informatization, digitization and safety control.
At present, a monorail crane transport locomotive used in a coal mine mainly depends on manual driving of a driver, namely, the driver cabs of the drivers positioned at the front end and the rear end of the locomotive manually control the actions of acceleration, deceleration, stopping, turnout pulling, air door opening and the like of the monorail crane locomotive, so that the underground auxiliary transport system has the defects of more workers, high labor intensity of the driver and possible unsafe accidents in the transport driving process. During the unmanned driving process of the monorail crane, the locomotive runs along a fixed track, the system automatically controls the acceleration, deceleration and stop of the monorail crane locomotive, the pulling of a turnout of roadside equipment, the opening/closing of an air door, the control of a traffic light and the like, and the operation route and the environment of the existing ground unmanned vehicle are essentially different. At present, no specific implementation scheme exists for the underground monorail crane unmanned system, and the corresponding system and method belong to the technical blank in China. The invention provides a monorail crane unmanned system and a monorail crane unmanned method based on intelligent coal mine upgrading and reconstruction requirements, the monorail crane unmanned system has the functions of precise positioning, safety detection, autonomous sensing, active obstacle avoidance and the like of a monorail crane locomotive, can detect sudden emergencies such as obstacles and the like on an operation route in real time, automatically controls acceleration, deceleration and stop of the monorail crane locomotive, and pulling of turnouts of roadside equipment, opening/closing of air doors, control of traffic lights and the like, and ensures that the monorail crane runs safely, reliably and efficiently in an unmanned operation mode.
Disclosure of Invention
In order to overcome the blank and the defects in the prior art, the invention solves the technical problems that: the improvement of a hardware structure and a control method of the monorail crane unmanned control system is provided.
In order to solve the technical problems, the invention adopts the technical scheme that: a monorail crane unmanned control system comprises a monorail crane body running in a roadway and an unmanned control platform arranged in a control room, wherein a laser radar, a laser ranging sensor, a vehicle-mounted controller, an inclination angle sensor and a network camera are arranged on the outer side of the monorail crane body;
a network switch, an ultra wide band positioning module, a single-rail crane electric control box and a wireless communication module are arranged inside the single-rail crane body;
a turnout controller, an air door controller, a traffic light controller, a wireless communication base station and an ultra wide band positioning base station are also arranged in the roadway;
the unmanned control console is also provided with an unmanned control computer, a data switch and a positioning server;
the vehicle-mounted controller is respectively connected with the laser ranging sensor, the inclination angle sensor, the network switch and the wireless communication module through leads, and the network switch is connected with the network camera and the laser radar through leads;
the vehicle-mounted controller is connected with the monorail crane electric control box through a CAN bus, an Ethernet network cable or an RS485 bus;
the ultra-wideband positioning module is in wireless connection with an ultra-wideband positioning base station arranged in a roadway through wireless electromagnetic waves;
the ultra-wideband positioning base station is connected with the wireless communication base station through a wire;
the wireless communication module is in wireless connection with a wireless communication base station through wireless electromagnetic waves;
the wireless communication base station is connected with the data exchanger through a lead;
the wireless communication base station is respectively in wireless connection with the turnout controller, the air door controller and the traffic light controller through wireless electromagnetic waves;
and the data switch is respectively connected with the unmanned control computer and the positioning server through leads.
A monorail crane unmanned control method comprises the following control steps:
the method comprises the following steps: the monorail crane is characterized in that a vehicle-mounted controller is arranged on a monorail crane body and is used for respectively receiving data collected by a laser ranging sensor and an inclination angle sensor and sending the collected data to a wireless communication module;
step two: the vehicle-mounted controller is controlled to carry out data communication with the electric control box of the monorail crane through a CAN bus or an RS485 bus, the running parameters of the monorail crane are obtained, and the running parameters are sent to the wireless communication module;
step three: the vehicle-mounted controller is controlled to respectively receive data collected by the laser radar and the network camera and send the collected data to the wireless communication module;
step four: the control wireless communication module is in data communication with a data switch arranged in a control room through a wireless communication base station, and the data switch sends received data to the unmanned control computer;
step five: respectively controlling a turnout controller, an air door controller and a traffic light controller in a driving roadway of the monorail crane to send working parameters to a wireless communication base station arranged in the roadway in real time through wireless electromagnetic waves;
the wireless communication base station sends the working parameters to the unmanned control computer through a data switch;
step six: the method comprises the steps that a control ultra-wideband positioning base station receives position data acquired by an ultra-wideband positioning module installed on a monorail crane body in real time, the position data are sent to a positioning server through a wireless communication base station and a data switch, the positioning server carries out coordinate calculation on the position data, and current position coordinate information of the monorail crane is sent to an unmanned control computer through the data switch;
step seven: the unmanned control computer is controlled to sequentially pass through the data switch, the wireless communication base station, the wireless communication module and the network switch to acquire and display video image data acquired by the network camera;
step eight: the unmanned control computer sends control instructions to a turnout controller, an air door controller and a traffic light controller arranged in a roadway through a data switch and a wireless communication base station according to the calculated position coordinate data of the monorail crane, controls the turnout controller to pull the turnout, controls the air door controller to switch an air door and controls the traffic light controller to display traffic lights;
step nine: the unmanned control computer calculates and judges whether a barrier exists on a running safety region of the current monorail crane body according to the received laser ranging data and the laser radar real-time acquisition data, and when the barrier exists, the unmanned control computer sends a control signal to control the monorail crane electric cabinet to act sequentially through the data switch, the wireless communication base station, the wireless communication module and the vehicle-mounted controller, so as to control the monorail crane to alarm and stop; when the unmanned control computer does not send the control signal, the unmanned control computer does not send the control signal;
step ten: the unmanned control computer acquires the operation parameters of the monorail crane through the data switch, the wireless communication base station and the wireless communication module in sequence, the operation parameters are displayed on the unmanned control computer in real time, when the operation parameters exceed normal values, the unmanned control computer sends control instructions to the vehicle-mounted controller, and the vehicle-mounted controller is communicated with the monorail crane electric control box through the CAN bus or the RS485 bus to control the monorail crane to alarm and stop.
The specific steps of judging whether the obstacle exists in the driving safety area of the current monorail crane body by the unmanned control computer in the ninth step are as follows:
the unmanned control computer acquires point cloud data acquired by the laser radar, calculates and judges whether an obstacle exists in a driving route area, and the calculation formula is as follows:
in the formula (I), the compound is shown in the specification,
in order to scan the x-coordinate of the point,
is the y coordinate of the scanning point, n is the number of current scanning points, sps is the number of sampling points per circle, L [ n ]]The point cloud data is obtained;
and respectively calculating and judging whether the barrier is positioned in a driving route warning area or a fault area according to the following formula based on the barrier coordinates obtained by calculating the formula:
if it is not
And is
Then alarm =1; otherwise, alarm =0;
wherein, the alarm is an alarm sign,
in order to scan the x-coordinate of the point,
is the y coordinate of the scanning point, W is the scanning width,
is the value of the alarm distance and is,
in order to time the occurrence of an alarm,
is an alarm time length threshold value;
if it is used
And is provided with
If yes, then fault =1; otherwise, fault =0;
wherein the fault is a fault mark,
in order to scan the x-coordinate of the point,
is the y coordinate of the scanning point, W is the scanning width,
in order to be the value of the distance to failure,
the time is timed for the occurrence of a fault,
is a time length of failure threshold.
The specific steps of judging whether the obstacle exists in the driving safety region of the current monorail crane body by the unmanned control computer in the ninth step are as follows:
the unmanned control computer respectively acquires measurement data of laser ranging sensors arranged on the left side and the right side of the monorail crane body, and calculates and judges whether an obstacle exists in a driving route area, wherein the calculation formula is as follows:
if (a)
||
) And is and
，
otherwise alarm =1;
otherwise, alarm =0,
；
wherein, the alarm is an alarm sign,
for the obstacle distance acquired by the left laser ranging sensor,
for the obstacle distance acquired by the right laser ranging sensor,
is the value of the alarm distance and is,
in order to trigger the timing for the alarm,
is an alarm time threshold;
if (a)
||
) And is made of
，
Otherwise alarm =1;
otherwise, alarm =0,
；
wherein the fault is a fault mark,
for the obstacle distance acquired by the left laser ranging sensor,
for the obstacle distance acquired by the right laser ranging sensor,
in order to be the value of the distance to failure,
in order to trigger the timing for the failure,
is a time to failure threshold.
Compared with the prior art, the invention has the following beneficial effects: the invention provides a monorail crane unmanned control system and a corresponding control method aiming at the requirement of a monorail crane unmanned system under a coal mine for assisting transportation unmanned under the mine, and the control system can realize that the monorail crane does not depend on driving of a driver in the driving process, thereby realizing the purposes of reducing people and improving efficiency and improving safety. The control system is respectively provided with three-level communication devices in the monorail crane body, the underground centralized control room and the ground control room for data interaction, and when the position of the monorail crane body is positioned, whether obstacles exist on the current monorail crane traveling route is calculated and judged, so that the control system has the automation advantages of quick identification, quick response and quick feedback. The system can effectively improve the safety, reliability and efficiency of underground monorail crane transportation while fully considering the special running environment of the underground monorail crane auxiliary transportation system of the coal mine, and has wide application prospect.
Drawings
The invention is further described with reference to the accompanying drawings:
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic circuit diagram of a monorail crane body acquisition control module of the present invention;
FIG. 3 is a schematic circuit diagram of a monorail crane body communication module of the present invention;
FIG. 4 is a diagram illustrating the calculation effect of detecting obstacles by using a laser radar according to the present invention;
FIG. 5 is a graph showing the comparative effect of detecting obstacles according to the present invention;
in the figure: the system comprises a monorail crane body 1, a laser radar 2, a laser ranging sensor 3, an onboard controller 4, an inclination angle sensor 5, a network camera 6, a network switch 7, an ultra-wideband positioning module 8, a monorail crane electric control box 9, a wireless communication module 10, a turnout controller 11, an air door controller 12, a traffic light controller 13, a wireless communication base station 14, an ultra-wideband positioning base station 15, an unmanned control console 16, an unmanned control computer 17, a data switch 18 and a positioning server 19.
Detailed Description
The invention particularly provides a monorail crane unmanned system and a control method thereof, belongs to the field of automatic control systems for underground coal mine rail-guided auxiliary transportation, and aims to realize safe unmanned operation of a monorail crane locomotive. As shown in fig. 5, if an angle and distance scanning obstacle algorithm is adopted, a scanning blind area problem exists outside the fan-shaped area, and the scanning blind area is larger as the obstacle approaches the laser radar 2, which is not beneficial to the detection and driving safety of the obstacle; when the scanning angle of the laser radar is enlarged by the algorithm, the blind area can be reduced, but the arc part of the boundary of the sector area is easy to touch the wall, and false alarm is easy to cause. The invention combines the laser radar and the laser ranging sensor, not only can solve the problem of scanning blind area, but also can detect the obstacle at a far position without being influenced by the angle of the laser radar, thereby ensuring the driving safety and greatly improving the scanning speed of the obstacle detection.
As shown in figures 1 to 4, the unmanned control system of the monorail crane provided by the invention mainly comprises a locomotive-mounted subsystem, a transportation network subsystem and a remote control subsystem.
Wherein, the on-vehicle subsystem of locomotive mainly includes:
and 2, laser radar 2: the device is arranged in front of and behind a monorail crane body, can scan whether a front obstacle exists or not at a certain angle, and obtains angle and distance information of the front obstacle relative to a laser radar;
laser ranging sensor 3: the device is arranged in front of and behind the monorail crane body and used for detecting whether an obstacle exists in front of the monorail crane body and acquiring distance information of the obstacle in front relative to the laser ranging sensor;
the network camera 6: the system is arranged in front of and behind a monorail crane body and is used for acquiring video images of the front part and the rear part of a locomotive in the running process of the monorail crane;
(UWB) ultra-wideband positioning module 8: the positioning device is arranged at a fixed position of a monorail crane body and works in combination with an Ultra Wide Band (UWB) positioning base station in a roadway to realize the accurate positioning of the monorail crane;
the vehicle-mounted controller 4: the system is arranged in the middle of a vehicle body, is a local control center of the unmanned system of the monorail crane, and is used for acquiring working parameters of the monorail crane, data of a laser ranging sensor and data of an inclination sensor and controlling functions of advancing, retreating, accelerating, decelerating, stopping and the like of the locomotive through an electric cabinet of the monorail crane;
the tilt sensor 5: the system is used for acquiring gradient information of the monorail crane during running in real time;
the network switch 7: the local area network communication is used for realizing the on-board subsystem of the locomotive;
monorail crane electric cabinet 9: the method is characterized in that original equipment of the monorail crane and an onboard controller realize locomotive working condition parameter transmission and locomotive control through CAN bus or RS485 communication;
the wireless communication module 10: according to different communication standards adopted by wireless communication base stations in a roadway of the monorail crane unmanned system, for example: WIFI, 4G or 5G adopt different wireless communication modules, realize the communication between locomotive on-board subsystem and the wireless communication basic station in the tunnel.
In addition, the transport network subsystem essentially comprises:
the turnout controller 11: receiving a control instruction of an unmanned control console in a control room, controlling turnouts to swing in different directions, and indicating the current positions of the turnouts on turnout indication boards;
the damper controller 12: receiving a control instruction of an unmanned control console in a control room, and controlling an air door to be opened or closed;
the traffic light controller 13: receiving a control instruction of an unmanned control console in a control room, and controlling a traffic light to display a red light or a green light;
wireless communication base station 14: the single-track crane unmanned driving route is installed at regular intervals, is used for realizing wireless communication network coverage in an unmanned system line area, and can adopt different communication standards, such as: WIFI, 4G or 5G;
ultra-wideband positioning base station 15: the positioning device is arranged on an unmanned driving route of the monorail crane at certain intervals, and is combined with an Ultra Wide Band (UWB) positioning module arranged on a locomotive to realize high-precision positioning of the locomotive.
In addition, the remote control subsystem mainly comprises:
the unmanned console 16: is arranged in an underground control room or a ground control room, various control buttons and control handles are arranged on a control console, and manual control or automatic control of the unmanned system of the monorail crane is realized
The unmanned control computer 17: running software of the unmanned system of the monorail crane to realize the functions of position display, equipment control, working parameter monitoring, video image display and the like of the monorail crane;
the data switch 18: constructing a control room local area network to realize networking communication with a wireless communication base station on a monorail crane running line and a wireless communication module of a locomotive-mounted subsystem;
the positioning server 19: and ultra-wideband (UWB) positioning algorithm software is built in, so that the positioning calculation of the locomotive on the running line of the monorail crane is realized, the running position coordinate of the locomotive is obtained, and the running position coordinate is sent to the unmanned system software running on the unmanned control computer.
Based on the system module provided above, in order to realize the unmanned function of the monorail locomotive required by the invention, corresponding installation and debugging are required to be carried out:
the vehicle-mounted controller 4 is connected with the laser ranging sensor 3, the inclination angle sensor 5, the network switch 7 and the wireless communication module 10 through leads respectively, and the network switch 7 is connected with the network camera 6 and the laser radar 2 through leads;
the vehicle-mounted controller 4 is connected with the monorail crane electric control box 9 through a CAN bus, an Ethernet network cable or an RS485 bus;
the ultra-wideband positioning module 8 is in wireless connection with an ultra-wideband positioning base station 15 arranged in a roadway through wireless electromagnetic waves;
the ultra-wideband positioning base station 15 is connected with the wireless communication base station 14 through a wire;
the wireless communication module 10 is connected with a wireless communication base station 14 in a wireless mode through wireless electromagnetic waves;
the wireless communication base station 14 is connected with a data exchange 18 through a wire;
the wireless communication base station 14 is respectively in wireless connection with the turnout controller 11, the air door controller 12 and the traffic light controller 13 through wireless electromagnetic waves;
the data exchanger 18 is respectively connected with the unmanned control computer 17 and the positioning server 19 through leads.
Further, the control method for realizing unmanned driving based on the control system of the monorail crane mainly comprises the following control processes:
the monorail crane body 1 is provided with a vehicle-mounted controller 4 which receives data collected by a laser ranging sensor 3 and an inclination angle sensor 5 respectively and sends the collected data to a wireless communication module 10;
the vehicle-mounted controller 4 is controlled to carry out data communication with the single-rail crane electric control box 9 through a CAN bus or an RS485 bus, the running parameters of the single-rail crane are obtained, and the running parameters are sent to the wireless communication module 10;
controlling data of a laser radar 2 and a network camera 6 installed on the monorail crane body 1, and sending the data to a wireless communication module 10 through a network switch 7;
the wireless communication module 10 is controlled to carry out data communication with a data exchange 18 arranged in a control room through a wireless communication base station 14, and the data exchange 18 sends received data to an unmanned control computer 17;
respectively controlling a turnout controller 11, an air door controller 12 and a traffic light controller 13 in a running roadway of the monorail crane to send working parameters to a wireless communication base station 14 arranged in the roadway in real time through wireless electromagnetic waves;
the wireless communication base station 14 sends working parameters to the unmanned control computer 17 through the data exchange 18;
the control ultra-wideband positioning base station 15 receives position data acquired by an ultra-wideband positioning module 8 installed on the monorail crane body in real time, the position data are sent to a positioning server 19 through a wireless communication base station 14 and a data switch 18, the positioning server 19 carries out coordinate calculation on the position data, and current position coordinate information of the monorail crane is sent to an unmanned control computer 17 through the data switch 18;
the unmanned control computer 17 is controlled to sequentially obtain and display video image data acquired by the network camera 6 through the data exchange 18, the wireless communication base station 14, the wireless communication module 10 and the network exchange 7;
the unmanned control computer 17 sends control instructions to a turnout controller 11, an air door controller 12 and a traffic light controller 13 arranged in a roadway through a data switch 18 and a wireless communication base station 14 according to the calculated position coordinate data of the monorail crane, controls the turnout controller 11 to pull a turnout, controls the air door controller 12 to open and close an air door, and controls the traffic light controller 13 to display traffic lights;
the unmanned control computer 17 calculates and judges whether a barrier exists on a driving safety region of the current monorail crane body 1 or not according to the received laser ranging data and the laser radar real-time acquisition data, and when the barrier exists, the unmanned control computer 17 sends a control signal to control the monorail crane electric control box 9 to act sequentially through the data switch 18, the wireless communication base station 14, the wireless communication module 10 and the vehicle-mounted controller 4, so as to control the monorail crane to alarm and stop; when the unmanned control computer 17 does not send the control signal;
the unmanned control computer 17 acquires the operation parameters of the monorail crane through the data switch 18, the wireless communication base station 14 and the wireless communication module 10 in sequence, the operation parameters are displayed on the unmanned control computer 17 in real time, when the operation parameters exceed normal values, the unmanned control computer 17 sends control instructions to the onboard controller 4, and the onboard controller 4 is communicated with the monorail crane electric control box 9 through a CAN bus or an RS485 bus to control the monorail crane to alarm and stop.
Furthermore, in order to realize unmanned driving, the obstacle needs to be identified, at any time in the driving process of the monorail crane, the unmanned control computer 17 calculates whether the obstacle exists in the driving route area or not according to the point cloud data acquired by the laser radar 2, and controls alarming or automatic parking according to different areas where the obstacle exists, so that the safety in the driving process is ensured;
the calculation formula is as follows:
in the formula (I), the compound is shown in the specification,
in order to scan the x-coordinate of the point,
is the y coordinate of the scanning point, n is the current scanning point number, sps is the number of sampling points per circle, L [ n ]]The point cloud data is obtained;
when L [ n ] is shown in FIG. 4]= 1878，
Then, the coordinates of the obstacle can be calculated according to the formula: x =517,y =1805.
Based on the coordinates of the obstacles obtained by calculation, whether the obstacles are located in a driving route warning area or a fault area is calculated and judged according to the following formula:
if it is used
And is provided with
Then alarm =1; otherwise, alarm =0;
wherein, the alarm is an alarm sign,
in order to scan the x-coordinate of the point,
is the y coordinate of the scanning point, W is the scanning width,
is the value of the alarm distance and is,
in order to time the occurrence of an alarm,
is an alarm time length threshold value.
If it is used
And is
If yes, then fault =1; otherwise, fault =0;
wherein the fault is a fault mark,
in order to scan the x-coordinate of the point,
is the y coordinate of the scanning point, W is the scanning width,
in order to be the value of the distance to failure,
the time is timed for the occurrence of a fault,
is a time length of failure threshold.
In addition, at any time in the driving process of the monorail crane, the unmanned control computer 17 can also calculate whether an obstacle exists in the driving route area or not by acquiring the measurement data of the left laser ranging sensor and the right laser ranging sensor 3, and control alarm or automatic stop according to different areas where the obstacle is located, so that the safety in the driving process is ensured, and the calculation formula is as follows:
if (a)
||
) And is and
，
otherwise alarm =1;
otherwise, alarm =0,
；
wherein the alarm is an alarm sign,
for the obstacle distance acquired by the left laser ranging sensor,
for the obstacle distance acquired by the right laser ranging sensor,
is the value of the alarm distance and is,
in order to trigger the timing for the alarm,
is an alarm time threshold;
if (a)
||
) And is made of
，
Otherwise alarm =1;
otherwise, alarm =0,
；
wherein the fault is a fault mark,
for the obstacle distance acquired by the left laser ranging sensor,
for the obstacle distance acquired by the right laser ranging sensor,
in order to be the value of the distance to failure,
in order to trigger the timing for the failure,
is a time to failure threshold.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and these modifications or substitutions do not depart from the spirit of the corresponding technical solutions of the embodiments of the present invention.
Claims (4)
1. The utility model provides a monorail crane unmanned control system, is including the monorail crane body (1) of traveling in the tunnel and setting up unmanned control cabinet (16) in the control room, its characterized in that: the outer side of the monorail crane body (1) is provided with a laser radar (2), a laser ranging sensor (3), a vehicle-mounted controller (4), an inclination angle sensor (5) and a network camera (6);
a network switch (7), an ultra-wideband positioning module (8), a monorail crane electric control box (9) and a wireless communication module (10) are arranged in the monorail crane body (1);
a turnout controller (11), an air door controller (12), a traffic light controller (13), a wireless communication base station (14) and an ultra-wideband positioning base station (15) are also arranged in the roadway;
the unmanned control console (16) is also provided with an unmanned control computer (17), a data exchanger (18) and a positioning server (19);
the vehicle-mounted controller (4) is respectively connected with the laser ranging sensor (3), the inclination angle sensor (5), the network switch (7) and the wireless communication module (10) through leads, and the network switch (7) is connected with the network camera (6) and the laser radar (2) through leads;
the vehicle-mounted controller (4) is connected with the monorail crane electric control box (9) through a CAN bus, an Ethernet network cable or an RS485 bus;
the ultra-wideband positioning module (8) is in wireless connection with an ultra-wideband positioning base station (15) arranged in a roadway through wireless electromagnetic waves;
the ultra-wideband positioning base station (15) is connected with the wireless communication base station (14) through a lead;
the wireless communication module (10) is in wireless connection with a wireless communication base station (14) through wireless electromagnetic waves;
the wireless communication base station (14) is connected with a data exchange (18) through a wire;
the wireless communication base station (14) is respectively in wireless connection with the turnout controller (11), the air door controller (12) and the traffic light controller (13) through wireless electromagnetic waves;
and the data exchange (18) is respectively connected with the unmanned control computer (17) and the positioning server (19) through leads.
2. A monorail crane unmanned control method is characterized by comprising the following steps: the method comprises the following control steps:
the method comprises the following steps: a vehicle-mounted controller (4) is arranged on the monorail crane body (1) to respectively receive data acquired by the laser ranging sensor (3) and the inclination angle sensor (5) and send the acquired data to the wireless communication module (10);
step two: the vehicle-mounted controller (4) is controlled to carry out data communication with the single-rail crane electric control box (9) through a CAN bus or an RS485 bus, the running parameters of the single-rail crane are obtained, and the running parameters are sent to the wireless communication module (10);
step three: the vehicle-mounted controller (4) is controlled to receive data collected by the laser radar (2) and the network camera (6) respectively and send the collected data to the wireless communication module (10);
step four: the control wireless communication module (10) is in data communication with a data exchange (18) arranged in a control room through a wireless communication base station (14), and the data exchange (18) sends received data to an unmanned control computer (17);
step five: respectively controlling a turnout controller (11), an air door controller (12) and a traffic light controller (13) in a driving roadway of the monorail crane to send working parameters to a wireless communication base station (14) arranged in the roadway in real time through wireless electromagnetic waves;
the wireless communication base station (14) sends the working parameters to the unmanned control computer (17) through the data exchange (18);
step six: the method comprises the steps that an ultra-wideband positioning base station (15) is controlled to receive position data obtained by an ultra-wideband positioning module (8) installed on a monorail crane body in real time, the position data are sent to a positioning server (19) through a wireless communication base station (14) and a data switch (18), the positioning server (19) carries out coordinate calculation on the position data, and current position coordinate information of the monorail crane is sent to an unmanned control computer (17) through the data switch (18);
step seven: the unmanned control computer (17) is controlled to sequentially acquire and display video image data acquired by the network camera (6) through the data switch (18), the wireless communication base station (14), the wireless communication module (10) and the network switch (7);
step eight: the unmanned control computer (17) sends control instructions to a turnout controller (11), an air door controller (12) and a traffic light controller (13) arranged in a roadway through a data switch (18) and a wireless communication base station (14) respectively according to the calculated position coordinate data of the monorail crane, controls the turnout controller (11) to pull the turnout, controls the air door controller (12) to switch the air door and controls the traffic light controller (13) to display traffic lights;
step nine: the unmanned control computer (17) calculates and judges whether a barrier exists on a driving safety region of the current monorail crane body (1) according to the received laser ranging data and the laser radar real-time acquisition data, and when the barrier exists, the unmanned control computer (17) sends a control signal to control the monorail crane electric cabinet (9) to act through the data switch (18), the wireless communication base station (14), the wireless communication module (10) and the vehicle-mounted controller (4) in sequence, so that the monorail crane is controlled to alarm and stop; when the unmanned control computer (17) does not send the control signal;
step ten: the unmanned control computer (17) sequentially passes through the data switch (18), the wireless communication base station (14) and the wireless communication module (10) to obtain the operation parameters of the monorail crane, the operation parameters are displayed on the unmanned control computer (17) in real time, when the operation parameters exceed normal values, the unmanned control computer (17) sends control instructions to the onboard controller (4), and the onboard controller (4) is communicated with the monorail crane electric control box (9) through a CAN bus or an RS485 bus to control the monorail crane to alarm and stop.
3. The unmanned control method of monorail crane according to claim 2, wherein: the specific steps that the unmanned control computer (17) judges whether the obstacle exists in the driving safety region of the current monorail crane body (1) in the ninth step are as follows:
the unmanned control computer (17) acquires point cloud data acquired by the laser radar (2), calculates and judges whether an obstacle exists in a driving route area, and the calculation formula is as follows:
in the formula (I), the compound is shown in the specification,
in order to scan the x-coordinate of the point,
is the y coordinate of the scanning point, n is the current scanning point number, sps is the number of sampling points per circle, L [ n ]]The point cloud data is obtained;
and respectively calculating and judging whether the barrier is positioned in a driving route warning area or a fault area according to the following formula based on the barrier coordinates obtained by calculating the formula:
if it is not
And is
Then alarm =1; otherwise, alarm =0;
wherein, the alarm is an alarm sign,
in order to scan the x-coordinate of the point,
is the y coordinate of the scanning point, W is the scanning width,
is the value of the alarm distance and is,
in order to time the occurrence of an alarm,
is an alarm time length threshold value;
if it is not
And is
If yes, then fault =1; otherwise, fault =0;
wherein the fault is a fault mark,
in order to scan the x-coordinate of the point,
is the y coordinate of the scanning point, W is the scanning width,
in order to be the value of the distance to failure,
the time is timed for the occurrence of a fault,
is a time length of failure threshold.
4. The unmanned control method for the monorail crane as defined in claim 2, wherein: the specific steps that the unmanned control computer (17) judges whether the obstacle exists in the driving safety area of the current monorail crane body (1) in the ninth step are as follows:
the unmanned control computer (17) respectively acquires measurement data of the laser ranging sensors (3) arranged on the left side and the right side of the monorail crane body (1), calculates and judges whether obstacles exist in a driving route area, and has the following calculation formula:
if (a)
||
) And is and
，
otherwise, alarm =1;
otherwise, alarm =0,
；
wherein the alarm is an alarm sign,
for the obstacle distance acquired by the left laser ranging sensor,
for the obstacle distance acquired by the right laser ranging sensor,
is the value of the alarm distance and is,
in order to trigger the timing for the alarm,
is an alarm time threshold;
if (a)
||
) And is made of
，
Otherwise alarm =1;
otherwise, alarm =0,
；
wherein the fault is a fault mark,
for the obstacle distance acquired by the left laser ranging sensor,
for the obstacle distance acquired by the right laser ranging sensor,
in order to be the value of the distance to failure,
in order to trigger the timing for the failure,
is a time to failure threshold.
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