CN203079601U - Automatic collision avoidance system for dock hoisting devices - Google Patents
Automatic collision avoidance system for dock hoisting devices Download PDFInfo
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- CN203079601U CN203079601U CN 201220742112 CN201220742112U CN203079601U CN 203079601 U CN203079601 U CN 203079601U CN 201220742112 CN201220742112 CN 201220742112 CN 201220742112 U CN201220742112 U CN 201220742112U CN 203079601 U CN203079601 U CN 203079601U
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Abstract
The utility model discloses an automatic collision avoidance system for dock hoisting devices. The automatic collision avoidance system comprises a central control system, a data communication module, and data acquisition modules, rotating mechanism protection devices, electronic control systems and upper computers which are respectively arranged on the hoisting devices, wherein the data acquisition modules are used for transmitting detected information of the hoisting devices into the central control system by the data communication module; after the information is treated by the central control system, the specific locations and states of the hoisting devices are transmitted into the upper computers by the data communication module; the upper computers make corresponding treatment on the electronic control systems according to the information; each rotating mechanism protection device comprises a position detection device for setting a dangerous warning area of the corresponding hoisting device, and a radar ranging device; and the data acquisition modules are used for acquiring the information of the position detection devices and the radar ranging devices and transmitting the information into the central control system. The automatic collision avoidance system solves the problem that the dock hoisting devices possibly have collision with one another in operation processes, and has the characteristics of high safety and reliability.
Description
Technical field
The utility model relates to autonomous cruise speed system, is specifically related to dock weight-lifting equipment automatic collision avoidance system.
Background technology
In the ordinary production operation process of dockyard, gate seat machine and the gauntry crane arranged around dock are that main production is established each.Because the maximization of these equipment, the driver is unsighted and the blind area occurs in when operation, can't learn that periphery closes on the particular location of establishing each, only depend on experience to operate, and because the radius of turn of gate seat machine is bigger, be easy to cause in that collision mutually takes place between the gauntry crane on the same track, between gate seat machine and the gauntry crane, cause the accident.
The utility model content
The technical problems to be solved in the utility model provides dock weight-lifting equipment automatic collision avoidance system, can either initiatively prevent the accident of colliding, again can be under the situation of driver's sight line blocking, carry out pre-alarm and remind the driver, prevent the generation of collision accident, solve contingent collision problem in each operation process of dock weight-lifting equipment, have the characteristics of high security and high reliability.
For achieving the above object, the technical solution of the utility model is as follows:
Dock weight-lifting equipment automatic collision avoidance system comprises:
Master control system, the data communication module, and be installed on data acquisition module on each weight-lifting equipment, and the rotating mechanism fender guard, electric-control system and upper computer,
Described data acquisition module passes to master control system with the information of detected weight-lifting equipment by the data communication module, handle the particular location and the state that obtain weight-lifting equipment through master control system and send upper computer to by the data communication module again, described upper computer is according to this information, make cooresponding processing at electric-control system
Described rotating mechanism fender guard comprises the position detecting device and the radar range unit in the danger caution zone of setting weight-lifting equipment, and both information transfer of data collecting module collected are given master control system.
Preferably, described upper computer also includes collision-proof alarm module and display module, and the collision-proof alarm module is used for the driver is reported to the police, and notifies the driver to note having obstacle nearby, display module is used to show weight-lifting equipment environmental information on every side, and the prompting driver carries out avoiding operation.
Preferably, collision avoidance system also includes several ball-type cameras that are provided with on the weight-lifting equipment, and gives display module with the information transfer of collection, and the interior energy of the display module real-time monitored that operator's compartment is set is to environmental information on every side.
Preferably, position detecting device is installed on the rotary main shaft or the rotation big gear wheel inboard of weight-lifting equipment, in case after exceeding the danger caution zone of weight-lifting equipment of setting, the collision-proof alarm module is reported to the police, upper computer sends action command for automatically controlled PLC simultaneously, and the motor of weight-lifting equipment stops.
By technique scheme, the beneficial effects of the utility model are:
The utility model can either initiatively prevent the accident of colliding, can under the situation of driver's sight line blocking, carry out pre-alarm and remind the driver again, prevent the generation of collision accident, solve contingent collision problem in each operation process of dock weight-lifting equipment, have the characteristics of high security and high reliability.
Description of drawings
In order to be illustrated more clearly in the utility model embodiment or technical scheme of the prior art, to do to introduce simply to the accompanying drawing of required use in embodiment or the description of the Prior Art below, apparently, accompanying drawing in describing below only is embodiment more of the present utility model, for those of ordinary skills, under the prerequisite of not paying creative work, can also obtain other accompanying drawing according to these accompanying drawings.
Fig. 1 is a fundamental diagram of the present utility model.
Fig. 2 is the structural representation of high pedestal jib crane of the present utility model.
Fig. 3 is the partial enlarged drawing of high pedestal jib crane of the present utility model.
Fig. 4 is the fundamental diagram of detecting device of the present utility model.
The specific embodiment
For technological means, creation characteristic that the utility model is realized, reach purpose and effect is easy to understand, below in conjunction with concrete diagram, further set forth the utility model.
With reference to Fig. 1, collision avoidance system independence one-tenth system is not subjected to the influence of main frame outage, adopts autonomous control system.
With reference to Fig. 1, dock weight-lifting equipment automatic collision avoidance system comprises: master control system, and the data communication module, and be installed on data acquisition module on each weight-lifting equipment, and the rotating mechanism fender guard, electric-control system and upper computer,
The rotating mechanism fender guard comprises: position detecting device and the radar range unit of setting the danger caution zone of weight-lifting equipment;
Relevant position at a machine that easily bumps is laid radar range unit, exportable analog quantity of this radar range unit (containing data acquisition module) or corresponding switching value are done unified the processing to master control system, judge the attitude information of current gate seat machine in conjunction with detecting device and do unified control judgement.PLC on machine sends corresponding early warning information simultaneously, is convenient to the centralized control of gate seat machine.Radar range unit is convenient to implement to detect the state of gauntry crane on every side near also can being installed in camera.
Effectively detect distance and be not less than 6m, sensitivity is adjustable; Can set machine and slow down, halt point, when obstacle is reported to the police during less than 3.00m and big mechanism of car is decelerated to 10%, when obstacle during less than 1.50m, big mechanism of car normally stops.
Also have a cover position detecting device on rotating mechanism, can set up dangerous caution zone, enter back, zone system by handling, duplicate protection is played in auto alarm and parking.Position detecting device is one near switch; be installed on the rotary main shaft or the rotation big gear wheel inboard of gate seat machine; can be near on-off system according to the position of rotation of detected state recognition gate seat machine; and the hazardous location discerned; carry out the two-fold protection from software and hardware; this signal is as master control system is unified to be handled according to entering, and the whole electric-control system of interlocking carries out early warning or produces corresponding docking process.
Master control system: master control system is the expert data processing unit, calculated by integrated informations such as collecting and detecting device and radar range unit and the positive machine forward and backwards of motor, by setting up detailed data model, calculate, analyze, and finally generate control command, send into upper computer, with electric-control system on the locking machine and send corresponding warning and stop action.
Upper computer: upper computer and the seamless link of the dynamo-electric control of former door system.Crashproof hazardous location and relevant early warning information are handled on upper computer.Simultaneously, will increase the total failure diagnostic message of this gate seat machine, be convenient to maintenance and the maintenance in the future of the dynamo-electric control system of gate seat, effectively reduce use cost.
The collision-proof alarm module: after alerting signal was triggered, this device carried out sound and light alarm and picture prompting to the driver.Under the semi-automatic operation pattern of system, the control output signal of exclusive data communication module drives acoustic-optic alarm, and carries out some relevant dodging and shut-down operation by master system prompting driver.
When control signal took place, this device carried out sound and light alarm and LED indication to the driver.Under the semi-automatic operation pattern of system, the control output signal of exclusive data communication module drives acoustic-optic alarm, and carries out relevant avoiding operations such as backward going, deceleration, revolution by LED prompting driver.
The data communication module: data acquisition realizes by DI passage, high-speed counting passage and the Rs4gs serial ports of module, is used for gathering near signals such as switch, coder and motor forward and backwards.DI and high-speed counting access port can freely dispose according to system's needs.
Also include camera system, camera system comprises several cameras, can allow operating personal easily, clearly see the image at rear, monitors the situation at rear in real time.Camera system can write down monitoring image automatically, can write down to surpass one month picture data.
In order to prevent that gate seat machine machine room trailing portion and gauntry crane from bumping, the ball-type camera is installed at the relevant portion of gate seat machine.A read out instrument of being convenient to driver observation is installed in the dead ahead in driver's cab simultaneously.This cover camera system comprises simultaneously is convenient to the supervisory keyboard that amplifies and dwindle, is convenient to implement the supervision to picture.
More than a few part system promptly can initiatively prevent the accident of colliding, again can the passive generation that prevents collision accident under the situation of driver's sight line blocking.
With reference to Fig. 2, weight-lifting equipment comprises high pedestal jib crane and gauntry crane, and the rotation position, middle part of high pedestal jib crane is equipped with rotating mechanism fender guard 1,
With reference to Fig. 3, rotating mechanism fender guard 1 comprises mounting bracket 2, in the both sides of mounting bracket 2 position detecting device 3 is installed, and also is provided with radar range unit 4 in the bottom of mounting bracket 2, and the fixed link 5 that radar range unit 4 is installed is parallel to the gauntry crane track.
With reference to Fig. 4, the revolution of collision avoidance system detects the gate seat machine that is primarily aimed at, when detecting device detects the rotary angle signal that is installed on rotary main shaft or the gear case, system can calculate the degreeof turn of gate seat machine according to the initial angle after the initialization, thereby judges whether may bump in radius of turn.This method of inspection does not need to gather the code device signal of motor.
After the collision avoidance system initialization was finished, the anglec of rotation of system during with initialization was as the acquiescence initial angle, and in the equipment availability process, rotating instant angle can be calculated according to the forward and backward signal and the detected rotary angle signal of motor by system.During the motor rotation, installing detected signal is exactly rotating angle (be the anglec of rotation additional calculation when motor is just changeing, otherwise be anglec of rotation subtraction), by data processing unit, thus the back-up protection of realization rotating mechanism.
Principle of work of the present utility model:
Install on each near data acquisition modules such as detecting element such as switch and radar rangings at every equipment, information transfer such as detected position, turning circle are input to the back-end data processing unit that data processing software is installed,
Obtain the particular location and the state of equipment by the computational analysis of data processing software, and generation control signal, be transferred to the data processing unit module on the weight-lifting equipment then, the chain signal that it can the PLC on hoisting crane sends both direction is realized automatic deceleration and is stopped, notify the driver to note having obstacle nearby with acousto-optic simultaneously, avoid the mutual collision between the equipment.
Collision avoidance system has been selected safe and reliable detecting element and simple and practical method of inspection for use, can detect the actual relative position of reseting each rapidly and accurately.
Data acquisition module specific aim and applicability are strong, have characteristics such as speed of response is fast, antijamming capability is strong, reliability height.It is few that collision avoidance system takies on the equipment resource of former control system, and interface is simple.
Under the semi-automatic operation pattern, data acquisition and data handing all are to be relatively independent of former control system PLC, are connected by serial communication or hardwire with the interface of former control system, and the data communication amount seldom can not produce any influence to former PLC system.
More than show and described groundwork of the present utility model and principal character and advantage of the present utility model.The technical personnel of the industry should be understood; the utility model is not restricted to the described embodiments; that describes in the foregoing description and the specification sheets just illustrates principle of the present utility model; under the prerequisite that does not break away from the utility model spirit and scope; the utility model also has various changes and modifications, and these changes and improvements all fall in claimed the utility model scope.The claimed scope of the utility model is defined by appending claims and equivalent thereof.
Claims (4)
1. dock weight-lifting equipment automatic collision avoidance system is characterized in that, comprising:
Master control system, the data communication module, and be installed on data acquisition module on each weight-lifting equipment, and the rotating mechanism fender guard, electric-control system and upper computer,
Described data acquisition module passes to master control system with the information of detected weight-lifting equipment by the data communication module, handle the particular location and the state that obtain weight-lifting equipment through master control system and send upper computer to by the data communication module again, described upper computer is according to this information, make cooresponding processing at electric-control system
Described rotating mechanism fender guard comprises the position detecting device and the radar range unit in the danger caution zone of setting weight-lifting equipment, and both information transfer of data collecting module collected are given master control system.
2. dock weight-lifting equipment automatic collision avoidance system according to claim 1, it is characterized in that: described upper computer also includes collision-proof alarm module and display module, the collision-proof alarm module is used for the driver is reported to the police, notify the driver to note having obstacle nearby, display module is used to show weight-lifting equipment environmental information on every side, and the prompting driver carries out avoiding operation.
3. dock weight-lifting equipment automatic collision avoidance system according to claim 1, it is characterized in that: collision avoidance system also includes several ball-type cameras that are provided with on the weight-lifting equipment, and give display module with the information transfer of gathering, be provided with in the display module of operator's compartment can real-time monitored to around environmental information.
4. dock weight-lifting equipment automatic collision avoidance system according to claim 1, it is characterized in that: position detecting device is installed on the rotary main shaft or the rotation big gear wheel inboard of weight-lifting equipment, in case after exceeding the danger caution zone of weight-lifting equipment of setting, the collision-proof alarm module is reported to the police, upper computer sends action command for automatically controlled PLC simultaneously, and the motor of weight-lifting equipment stops.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220742112 CN203079601U (en) | 2012-12-28 | 2012-12-28 | Automatic collision avoidance system for dock hoisting devices |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220742112 CN203079601U (en) | 2012-12-28 | 2012-12-28 | Automatic collision avoidance system for dock hoisting devices |
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| CN203079601U true CN203079601U (en) | 2013-07-24 |
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| CN 201220742112 Expired - Fee Related CN203079601U (en) | 2012-12-28 | 2012-12-28 | Automatic collision avoidance system for dock hoisting devices |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103030069A (en) * | 2012-12-28 | 2013-04-10 | 上海红箭自动化设备有限公司 | Automatic anti-collision system for dock hoisting equipment |
| CN103428477A (en) * | 2013-08-15 | 2013-12-04 | 上海国际港务(集团)股份有限公司军工路分公司 | Portal crane operation monitoring system |
| CN105347210A (en) * | 2015-12-01 | 2016-02-24 | 江苏聚业机械装备股份有限公司 | Anti-collision device for floating crane tail |
| CN105398962A (en) * | 2015-11-24 | 2016-03-16 | 山东钢铁股份有限公司 | Method and system for preventing crown block lifting device from scratching ground facilities |
| CN104760887B (en) * | 2014-01-08 | 2017-01-11 | 中国特种设备检测研究院 | Harbor lifting machinery operation safety machine-mounted early warning system |
| CN106586853A (en) * | 2017-01-19 | 2017-04-26 | 中建四局第三建筑工程有限公司 | Intelligent equipment for component hoisting and manufacturing method of equipment |
| CN109850778A (en) * | 2019-01-07 | 2019-06-07 | 宝鸡市铁安工程机械有限公司 | A kind of track derrick car rotary limit device |
| CN110963429A (en) * | 2019-12-31 | 2020-04-07 | 三一海洋重工有限公司 | Gyration collision avoidance system and hoist |
-
2012
- 2012-12-28 CN CN 201220742112 patent/CN203079601U/en not_active Expired - Fee Related
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103030069A (en) * | 2012-12-28 | 2013-04-10 | 上海红箭自动化设备有限公司 | Automatic anti-collision system for dock hoisting equipment |
| CN103030069B (en) * | 2012-12-28 | 2014-10-01 | 上海红箭自动化设备有限公司 | Automatic anti-collision system for dock hoisting equipment |
| CN103428477A (en) * | 2013-08-15 | 2013-12-04 | 上海国际港务(集团)股份有限公司军工路分公司 | Portal crane operation monitoring system |
| CN104760887B (en) * | 2014-01-08 | 2017-01-11 | 中国特种设备检测研究院 | Harbor lifting machinery operation safety machine-mounted early warning system |
| CN105398962A (en) * | 2015-11-24 | 2016-03-16 | 山东钢铁股份有限公司 | Method and system for preventing crown block lifting device from scratching ground facilities |
| CN105347210A (en) * | 2015-12-01 | 2016-02-24 | 江苏聚业机械装备股份有限公司 | Anti-collision device for floating crane tail |
| CN106586853A (en) * | 2017-01-19 | 2017-04-26 | 中建四局第三建筑工程有限公司 | Intelligent equipment for component hoisting and manufacturing method of equipment |
| CN109850778A (en) * | 2019-01-07 | 2019-06-07 | 宝鸡市铁安工程机械有限公司 | A kind of track derrick car rotary limit device |
| CN109850778B (en) * | 2019-01-07 | 2024-07-09 | 宝鸡市铁安工程机械有限公司 | Rotary limiting device of track crane |
| CN110963429A (en) * | 2019-12-31 | 2020-04-07 | 三一海洋重工有限公司 | Gyration collision avoidance system and hoist |
| CN110963429B (en) * | 2019-12-31 | 2021-05-18 | 三一海洋重工有限公司 | Gyration collision avoidance system and hoist |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20130724 Termination date: 20191228 |